}

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasX() {
        return mAccelerometerBiasX;
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX known x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final double accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = accelerometerBiasX;
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasY() {
        return mAccelerometerBiasY;
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasY known y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final double accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = accelerometerBiasY;
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasZ() {
        return mAccelerometerBiasZ;
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasZ known z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final double accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasXAsAcceleration() {
        return new Acceleration(mAccelerometerBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final Acceleration accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasYAsAcceleration() {
        return new Acceleration(mAccelerometerBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final Acceleration accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasZAsAcceleration() {
        return new Acceleration(mAccelerometerBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final double accelerometerBiasX,
            final double accelerometerBiasY,
            final double accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = accelerometerBiasX;
        mAccelerometerBiasY = accelerometerBiasY;
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final Acceleration accelerometerBiasX,
            final Acceleration accelerometerBiasY,
            final Acceleration accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public double[] getAccelerometerBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getAccelerometerBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void getAccelerometerBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result[0] = mAccelerometerBiasX;
        result[1] = mAccelerometerBiasY;
        result[2] = mAccelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void setAccelerometerBias(final double[] accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias[0];
        mAccelerometerBiasY = accelerometerBias[1];
        mAccelerometerBiasZ = accelerometerBias[2];
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public Matrix getAccelerometerBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getAccelerometerBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getAccelerometerBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerBiasX);
        result.setElementAtIndex(1, mAccelerometerBiasY);
        result.setElementAtIndex(2, mAccelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias. Must be 3x1.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setAccelerometerBias(final Matrix accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS
                || accelerometerBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias.getElementAtIndex(0);
        mAccelerometerBiasY = accelerometerBias.getElementAtIndex(1);
        mAccelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
    }

    /**
     * Gets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer x scaling factor.
     */
    public double getAccelerometerSx() {
        return mAccelerometerSx;
    }

    /**
     * Sets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSx(final double accelerometerSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
    }

    /**
     * Gets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer y scaling factor.
     */
    public double getAccelerometerSy() {
        return mAccelerometerSy;
    }

    /**
     * Sets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSy known accelerometer y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSy(final double accelerometerSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSy = accelerometerSy;
    }

    /**
     * Gets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer z scaling factor.
     */
    public double getAccelerometerSz() {
        return mAccelerometerSz;
    }

    /**
     * Sets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSz(final double accelerometerSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Gets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-y cross coupling error.
     */
    public double getAccelerometerMxy() {
        return mAccelerometerMxy;
    }

    /**
     * Sets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxy(final double accelerometerMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
    }

    /**
     * Gets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-z cross coupling error.
     */
    public double getAccelerometerMxz() {
        return mAccelerometerMxz;
    }

    /**
     * Sets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxz known accelerometer x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxz(final double accelerometerMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxz = accelerometerMxz;
    }

    /**
     * Gets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-x cross coupling error.
     */
    public double getAccelerometerMyx() {
        return mAccelerometerMyx;
    }

    /**
     * Sets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyx(final double accelerometerMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyx = accelerometerMyx;
    }

    /**
     * Gets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-z cross coupling error.
     */
    public double getAccelerometerMyz() {
        return mAccelerometerMyz;
    }

    /**
     * Sets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyz(final double accelerometerMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyz = accelerometerMyz;
    }

    /**
     * Gets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-x cross coupling error.
     */
    public double getAccelerometerMzx() {
        return mAccelerometerMzx;
    }

    /**
     * Sets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzx(final double accelerometerMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzx = accelerometerMzx;
    }

    /**
     * Gets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-y cross coupling error.
     */
    public double getAccelerometerMzy() {
        return mAccelerometerMzy;
    }

    /**
     * Sets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzy(final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors to be used to fix measured
     * specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @param accelerometerSy known accelerometer y scaling factor.
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
        mAccelerometerSy = accelerometerSy;
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Sets known accelerometer cross coupling errors to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerCrossCouplingErrors(
            final double accelerometerMxy, final double accelerometerMxz,
            final double accelerometerMyx, final double accelerometerMyz,
            final double accelerometerMzx, final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
        mAccelerometerMxz = accelerometerMxz;
        mAccelerometerMyx = accelerometerMyx;
        mAccelerometerMyz = accelerometerMyz;
        mAccelerometerMzx = accelerometerMzx;
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors and cross coupling errors
     * to be used to fix measured specific force and find cross biases
     * introduced by the accelerometer.
     *
     * @param accelerometerSx  known accelerometer x scaling factor.
     * @param accelerometerSy  known accelerometer y scaling factor.
     * @param accelerometerSz  known accelerometer z scaling factor.
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz, final double accelerometerMxy,
            final double accelerometerMxz, final double accelerometerMyx,
            final double accelerometerMyz, final double accelerometerMzx,
            final double accelerometerMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setAccelerometerScalingFactors(accelerometerSx, accelerometerSy,
                accelerometerSz);
        setAccelerometerCrossCouplingErrors(accelerometerMxy,
                accelerometerMxz, accelerometerMyx,
                accelerometerMyz, accelerometerMzx,
                accelerometerMzy);
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @return known accelerometer scale factors and cross coupling
     * errors matrix.
     */
    public Matrix getAccelerometerMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getAccelerometerMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getAccelerometerMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerSx);
        result.setElementAtIndex(1, mAccelerometerMyx);
        result.setElementAtIndex(2, mAccelerometerMzx);

        result.setElementAtIndex(3, mAccelerometerMxy);
        result.setElementAtIndex(4, mAccelerometerSy);
        result.setElementAtIndex(5, mAccelerometerMzy);

        result.setElementAtIndex(6, mAccelerometerMxz);
        result.setElementAtIndex(7, mAccelerometerMyz);
        result.setElementAtIndex(8, mAccelerometerSz);
    }

    /**
     * Sets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param accelerometerMa known accelerometer scale factors and
     *                        cross coupling errors matrix. Must be 3x3.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setAccelerometerMa(final Matrix accelerometerMa)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
                || accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerSx = accelerometerMa.getElementAtIndex(0);
        mAccelerometerMyx = accelerometerMa.getElementAtIndex(1);
        mAccelerometerMzx = accelerometerMa.getElementAtIndex(2);

        mAccelerometerMxy = accelerometerMa.getElementAtIndex(3);
        mAccelerometerSy = accelerometerMa.getElementAtIndex(4);
        mAccelerometerMzy = accelerometerMa.getElementAtIndex(5);

        mAccelerometerMxz = accelerometerMa.getElementAtIndex(6);
        mAccelerometerMyz = accelerometerMa.getElementAtIndex(7);
        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public double getInitialBiasX() {
        return mInitialBiasX;
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final double initialBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public double getInitialBiasY() {
        return mInitialBiasY;
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final double initialBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = initialBiasY;
    }

    /**
     * Gets initial z-coordinate of gyroscope bias ot be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public double getInitialBiasZ() {
        return mInitialBiasZ;
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final double initialBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedX() {
        return new AngularSpeed(mInitialBiasX,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedX(final AngularSpeed result) {
        result.setValue(mInitialBiasX);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final AngularSpeed initialBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedY() {
        return new AngularSpeed(mInitialBiasY,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedY(final AngularSpeed result) {
        result.setValue(mInitialBiasY);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final AngularSpeed initialBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = convertAngularSpeed(initialBiasY);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedZ() {
        return new AngularSpeed(mInitialBiasZ,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedZ(final AngularSpeed result) {
        result.setValue(mInitialBiasZ);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final AngularSpeed initialBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution
     * expressed in radians per second (rad/s).
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(
            final double initialBiasX, final double initialBiasY,
            final double initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
        mInitialBiasY = initialBiasY;
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(
            final AngularSpeed initialBiasX,
            final AngularSpeed initialBiasY,
            final AngularSpeed initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
        mInitialBiasY = convertAngularSpeed(initialBiasY);
        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Gets initial x scaling factor of gyroscope.
     *
     * @return initial x scaling factor of gyroscope.
     */
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSx(final double initialSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor of gyroscope.
     *
     * @return initial y scaling factor of gyroscope.
     */
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor of gyroscope.
     *
     * @param initialSy initial y scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSy(final double initialSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor of gyroscope.
     *
     * @return initial z scaling factor of gyroscope.
     */
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor of gyroscope.
     *
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSz(final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error of gyroscope.
     *
     * @return initial x-y cross coupling error of gyroscope.
     */
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxy(final double initialMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error of gyroscope.
     *
     * @return initial x-z cross coupling error of gyroscope.
     */
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error of gyroscope.
     *
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxz(final double initialMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error of gyroscope.
     *
     * @return initial y-x cross coupling error of gyroscope.
     */
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error of gyroscope.
     *
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyx(final double initialMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error of gyroscope.
     *
     * @return initial y-z cross coupling error of gyroscope.
     */
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error of gyroscope.
     *
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyz(final double initialMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error of gyroscope.
     *
     * @return initial z-x cross coupling error of gyroscope.
     */
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error of gyroscope.
     *
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzx(final double initialMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error of gyroscope.
     *
     * @return initial z-y cross coupling error of gyroscope.
     */
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error of gyroscope.
     *
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzy(final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @param initialSy initial y scaling factor of gyroscope.
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy,
            final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors of
     * gyroscope.
     *
     * @param initialSx  initial x scaling factor of gyroscope.
     * @param initialSy  initial y scaling factor of gyroscope.
     * @param initialSz  initial z scaling factor of gyroscope.
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @return array containing coordinates of initial gyroscope bias.
     */
    public double[] getInitialBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getInitialBias(result);
        return result;
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void getInitialBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mInitialBiasX;
        result[1] = mInitialBiasY;
        result[2] = mInitialBiasZ;
    }

    /**
     * Sets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param initialBias initial bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void setInitialBias(final double[] initialBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mInitialBiasX = initialBias[0];
        mInitialBiasY = initialBias[1];
        mInitialBiasZ = initialBias[2];
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as a
     * column matrix.
     *
     * @return initial gyroscope bias to be used to find a solution as a
     * column matrix.
     */
    public Matrix getInitialBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getInitialBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as a
     * column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getInitialBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialBiasX);
        result.setElementAtIndex(1, mInitialBiasY);
        result.setElementAtIndex(2, mInitialBiasZ);
    }

    /**
     * Sets initial gyroscope bias to be used to find a solution as
     * a column matrix.
     *
     * @param initialBias initial gyroscope bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setInitialBias(final Matrix initialBias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialBias.getRows() != BodyKinematics.COMPONENTS
                || initialBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mInitialBiasX = initialBias.getElementAtIndex(0);
        mInitialBiasY = initialBias.getElementAtIndex(1);
        mInitialBiasZ = initialBias.getElementAtIndex(2);
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @return initial gyroscope scale factors and cross coupling errors
     * matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial gyroscope scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets collection of sequences of timestamped body kinematics
     * measurements taken at a given position where the device moves freely
     * with different orientations.
     *
     * @return collection of sequences of timestamped body kinematics
     * measurements.
     */
    public List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences() {

    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasX() {
        return mAccelerometerBiasX;
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX known x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final double accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = accelerometerBiasX;
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasY() {
        return mAccelerometerBiasY;
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasY known y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final double accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = accelerometerBiasY;
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasZ() {
        return mAccelerometerBiasZ;
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasZ known z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final double accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasXAsAcceleration() {
        return new Acceleration(mAccelerometerBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final Acceleration accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasYAsAcceleration() {
        return new Acceleration(mAccelerometerBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final Acceleration accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasZAsAcceleration() {
        return new Acceleration(mAccelerometerBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final double accelerometerBiasX,
            final double accelerometerBiasY,
            final double accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = accelerometerBiasX;
        mAccelerometerBiasY = accelerometerBiasY;
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final Acceleration accelerometerBiasX,
            final Acceleration accelerometerBiasY,
            final Acceleration accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public double[] getAccelerometerBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getAccelerometerBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void getAccelerometerBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result[0] = mAccelerometerBiasX;
        result[1] = mAccelerometerBiasY;
        result[2] = mAccelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void setAccelerometerBias(final double[] accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias[0];
        mAccelerometerBiasY = accelerometerBias[1];
        mAccelerometerBiasZ = accelerometerBias[2];
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public Matrix getAccelerometerBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getAccelerometerBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getAccelerometerBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerBiasX);
        result.setElementAtIndex(1, mAccelerometerBiasY);
        result.setElementAtIndex(2, mAccelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias. Must be 3x1.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setAccelerometerBias(final Matrix accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS
                || accelerometerBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias.getElementAtIndex(0);
        mAccelerometerBiasY = accelerometerBias.getElementAtIndex(1);
        mAccelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
    }

    /**
     * Gets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer x scaling factor.
     */
    public double getAccelerometerSx() {
        return mAccelerometerSx;
    }

    /**
     * Sets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSx(final double accelerometerSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
    }

    /**
     * Gets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer y scaling factor.
     */
    public double getAccelerometerSy() {
        return mAccelerometerSy;
    }

    /**
     * Sets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSy known accelerometer y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSy(final double accelerometerSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSy = accelerometerSy;
    }

    /**
     * Gets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer z scaling factor.
     */
    public double getAccelerometerSz() {
        return mAccelerometerSz;
    }

    /**
     * Sets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSz(final double accelerometerSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Gets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-y cross coupling error.
     */
    public double getAccelerometerMxy() {
        return mAccelerometerMxy;
    }

    /**
     * Sets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxy(final double accelerometerMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
    }

    /**
     * Gets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-z cross coupling error.
     */
    public double getAccelerometerMxz() {
        return mAccelerometerMxz;
    }

    /**
     * Sets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxz known accelerometer x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxz(final double accelerometerMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxz = accelerometerMxz;
    }

    /**
     * Gets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-x cross coupling error.
     */
    public double getAccelerometerMyx() {
        return mAccelerometerMyx;
    }

    /**
     * Sets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyx(final double accelerometerMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyx = accelerometerMyx;
    }

    /**
     * Gets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-z cross coupling error.
     */
    public double getAccelerometerMyz() {
        return mAccelerometerMyz;
    }

    /**
     * Sets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyz(final double accelerometerMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyz = accelerometerMyz;
    }

    /**
     * Gets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-x cross coupling error.
     */
    public double getAccelerometerMzx() {
        return mAccelerometerMzx;
    }

    /**
     * Sets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzx(final double accelerometerMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzx = accelerometerMzx;
    }

    /**
     * Gets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-y cross coupling error.
     */
    public double getAccelerometerMzy() {
        return mAccelerometerMzy;
    }

    /**
     * Sets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzy(final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors to be used to fix measured
     * specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @param accelerometerSy known accelerometer y scaling factor.
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
        mAccelerometerSy = accelerometerSy;
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Sets known accelerometer cross coupling errors to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerCrossCouplingErrors(
            final double accelerometerMxy, final double accelerometerMxz,
            final double accelerometerMyx, final double accelerometerMyz,
            final double accelerometerMzx, final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
        mAccelerometerMxz = accelerometerMxz;
        mAccelerometerMyx = accelerometerMyx;
        mAccelerometerMyz = accelerometerMyz;
        mAccelerometerMzx = accelerometerMzx;
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors and cross coupling errors
     * to be used to fix measured specific force and find cross biases
     * introduced by the accelerometer.
     *
     * @param accelerometerSx  known accelerometer x scaling factor.
     * @param accelerometerSy  known accelerometer y scaling factor.
     * @param accelerometerSz  known accelerometer z scaling factor.
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz, final double accelerometerMxy,
            final double accelerometerMxz, final double accelerometerMyx,
            final double accelerometerMyz, final double accelerometerMzx,
            final double accelerometerMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setAccelerometerScalingFactors(accelerometerSx, accelerometerSy,
                accelerometerSz);
        setAccelerometerCrossCouplingErrors(accelerometerMxy,
                accelerometerMxz, accelerometerMyx,
                accelerometerMyz, accelerometerMzx,
                accelerometerMzy);
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @return known accelerometer scale factors and cross coupling
     * errors matrix.
     */
    public Matrix getAccelerometerMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getAccelerometerMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getAccelerometerMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerSx);
        result.setElementAtIndex(1, mAccelerometerMyx);
        result.setElementAtIndex(2, mAccelerometerMzx);

        result.setElementAtIndex(3, mAccelerometerMxy);
        result.setElementAtIndex(4, mAccelerometerSy);
        result.setElementAtIndex(5, mAccelerometerMzy);

        result.setElementAtIndex(6, mAccelerometerMxz);
        result.setElementAtIndex(7, mAccelerometerMyz);
        result.setElementAtIndex(8, mAccelerometerSz);
    }

    /**
     * Sets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param accelerometerMa known accelerometer scale factors and
     *                        cross coupling errors matrix. Must be 3x3.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setAccelerometerMa(final Matrix accelerometerMa)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
                || accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerSx = accelerometerMa.getElementAtIndex(0);
        mAccelerometerMyx = accelerometerMa.getElementAtIndex(1);
        mAccelerometerMzx = accelerometerMa.getElementAtIndex(2);

        mAccelerometerMxy = accelerometerMa.getElementAtIndex(3);
        mAccelerometerSy = accelerometerMa.getElementAtIndex(4);
        mAccelerometerMzy = accelerometerMa.getElementAtIndex(5);

        mAccelerometerMxz = accelerometerMa.getElementAtIndex(6);
        mAccelerometerMyz = accelerometerMa.getElementAtIndex(7);
        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets x-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return x-coordinate of gyroscope known bias.
     */
    public double getBiasX() {
        return mBiasX;
    }

    /**
     * Sets x-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @param biasX x-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasX(final double biasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasX = biasX;
    }

    /**
     * Gets y-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return y-coordinate of gyroscope known bias.
     */
    public double getBiasY() {
        return mBiasY;
    }

    /**
     * Sets y-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @param biasY y-coordinate of gyroscope known  bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasY(final double biasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasY = biasY;
    }

    /**
     * Gets z-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return z-coordinate of gyroscope known bias.
     */
    public double getBiasZ() {
        return mBiasZ;
    }

    /**
     * Sets z-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @param biasZ z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasZ(final double biasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasZ = biasZ;
    }

    /**
     * Gets x-coordinate of gyroscope known bias.
     *
     * @return x-coordinate of gyroscope known bias.
     */
    public AngularSpeed getBiasAngularSpeedX() {
        return new AngularSpeed(mBiasX,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets x-coordinate of gyroscope known bias.
     *
     * @param result instance where result data will be stored.
     */
    public void getBiasAngularSpeedX(final AngularSpeed result) {
        result.setValue(mBiasX);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets x-coordinate of gyroscope known bias.
     *
     * @param biasX x-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasX(final AngularSpeed biasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasX = convertAngularSpeed(biasX);
    }

    /**
     * Gets y-coordinate of gyroscope known bias.
     *
     * @return y-coordinate of gyroscope known bias.
     */
    public AngularSpeed getBiasAngularSpeedY() {
        return new AngularSpeed(mBiasY,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets y-coordinate of gyroscope known bias.
     *
     * @param result instance where result data will be stored.
     */
    public void getBiasAngularSpeedY(final AngularSpeed result) {
        result.setValue(mBiasY);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets y-coordinate of gyroscope known bias.
     *
     * @param biasY y-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasY(final AngularSpeed biasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasY = convertAngularSpeed(biasY);
    }

    /**
     * Gets z-coordinate of gyroscope known bias.
     *
     * @return initial z-coordinate of gyroscope known bias.
     */
    public AngularSpeed getBiasAngularSpeedZ() {
        return new AngularSpeed(mBiasZ,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets z-coordinate of gyroscope known bias.
     *
     * @param result instance where result data will be stored.
     */
    public void getBiasAngularSpeedZ(final AngularSpeed result) {
        result.setValue(mBiasZ);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets z-coordinate of gyroscope known bias.
     *
     * @param biasZ z-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasZ(final AngularSpeed biasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasZ = convertAngularSpeed(biasZ);
    }

    /**
     * Sets known bias coordinates of gyroscope expressed in
     * radians per second (rad/s).
     *
     * @param biasX x-coordinate of gyroscope known bias.
     * @param biasY y-coordinate of gyroscope known bias.
     * @param biasZ z-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBias(
            final double biasX, final double biasY,
            final double biasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasX = biasX;
        mBiasY = biasY;
        mBiasZ = biasZ;
    }

    /**
     * Sets known bias coordinates of gyroscope.
     *
     * @param biasX x-coordinate of gyroscope known bias.
     * @param biasY y-coordinate of gyroscope known bias.
     * @param biasZ z-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBias(
            final AngularSpeed biasX,
            final AngularSpeed biasY,
            final AngularSpeed biasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasX = convertAngularSpeed(biasX);
        mBiasY = convertAngularSpeed(biasY);
        mBiasZ = convertAngularSpeed(biasZ);
    }

    /**
     * Gets initial x scaling factor of gyroscope.
     *
     * @return initial x scaling factor of gyroscope.
     */
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSx(final double initialSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor of gyroscope.
     *
     * @return initial y scaling factor of gyroscope.
     */
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor of gyroscope.
     *
     * @param initialSy initial y scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSy(final double initialSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor of gyroscope.
     *
     * @return initial z scaling factor of gyroscope.
     */
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor of gyroscope.
     *
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSz(final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error of gyroscope.
     *
     * @return initial x-y cross coupling error of gyroscope.
     */
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxy(final double initialMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error of gyroscope.
     *
     * @return initial x-z cross coupling error of gyroscope.
     */
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error of gyroscope.
     *
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxz(final double initialMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error of gyroscope.
     *
     * @return initial y-x cross coupling error of gyroscope.
     */
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error of gyroscope.
     *
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyx(final double initialMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error of gyroscope.
     *
     * @return initial y-z cross coupling error of gyroscope.
     */
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error of gyroscope.
     *
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyz(final double initialMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error of gyroscope.
     *
     * @return initial z-x cross coupling error of gyroscope.
     */
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error of gyroscope.
     *
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzx(final double initialMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error of gyroscope.
     *
     * @return initial z-y cross coupling error of gyroscope.
     */
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error of gyroscope.
     *
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzy(final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @param initialSy initial y scaling factor of gyroscope.
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy,
            final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors of
     * gyroscope.
     *
     * @param initialSx  initial x scaling factor of gyroscope.
     * @param initialSy  initial y scaling factor of gyroscope.
     * @param initialSz  initial z scaling factor of gyroscope.
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets gyroscope known bias as an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @return array containing coordinates of gyroscope known bias.
     */
    public double[] getBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getBias(result);
        return result;
    }

    /**
     * Gets gyroscope known bias as an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void getBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mBiasX;
        result[1] = mBiasY;
        result[2] = mBiasZ;
    }

    /**
     * Sets gyroscope known bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param bias known bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void setBias(final double[] bias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (bias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mBiasX = bias[0];
        mBiasY = bias[1];
        mBiasZ = bias[2];
    }

    /**
     * Gets gyroscope known bias as a column matrix.
     *
     * @return initial gyroscope bias to be used to find a solution as a
     * column matrix.
     */
    public Matrix getBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets gyroscope known bias as a column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mBiasX);
        result.setElementAtIndex(1, mBiasY);
        result.setElementAtIndex(2, mBiasZ);
    }

    /**
     * Sets gyroscope known bias as a column matrix.
     *
     * @param initialBias gyroscope known bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setBias(final Matrix initialBias) throws LockedException {

    }

    /**
     * Gets Kalman filter error covariance matrix.
     * Notice that covariance is expressed in terms of ECEF coordinates.
     * If accuracy of position, attitude or velocity needs to be expressed in terms
     * of NED coordinates, their respective submatrices of this covariance matrix
     * must be rotated, taking into account the Jacobian of the matrix transformation
     * relating both coordinates, the covariance can be expressed following the law
     * of propagation of uncertainties (https://en.wikipedia.org/wiki/Propagation_of_uncertainty)
     * as: cov(f(x)) = J*cov(x)*J'.
     *
     * @param result instance where result data will be copied to.
     * @return true if result data has been copied, false otherwise.
     */
    public boolean getCovariance(final Matrix result) {
        if (mCovariance != null) {
            mCovariance.copyTo(result);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets Kalman filter error covariance matrix.
     * Notice that covariance is expressed in terms of ECEF coordinates.
     * If accuracy of position, attitude or velocity needs to be expressed in terms
     * of NED coordinates, their respective submatrices of this covariance matrix
     * must be rotated, taking into account the Jacobian of the matrix transformation
     * relating both coordinates, the covariance can be expressed following the law
     * of propagation of uncertainties (https://en.wikipedia.org/wiki/Propagation_of_uncertainty)
     * as: cov(f(x)) = J*cov(x)*J'.
     *
     * @return Kalman filter error covariance matrix.
     */
    public Matrix getCovariance() {
        return mCovariance;
    }

    /**
     * Sets Kalman filter error covariance matrix.
     *
     * @param covariance Kalman filter error covariance matrix to be set.
     * @throws IllegalArgumentException if provided covariance matrix is not 15x15.
     */
    public void setCovariance(final Matrix covariance) {
        if (covariance.getRows() != NUM_PARAMS ||
                covariance.getColumns() != NUM_PARAMS) {
            throw new IllegalArgumentException();
        }

        mCovariance = covariance;
    }

    /**
     * Gets body to ECEF coordinate transformation.
     *
     * @return body to ECEF coordinate transformation.
     * @throws InvalidRotationMatrixException if current body to ECEF transformation matrix is
     *                                        not valid (is not a 3x3 orthonormal matrix).
     */
    public CoordinateTransformation getC() throws InvalidRotationMatrixException {
        return mBodyToEcefCoordinateTransformationMatrix != null ?
                new CoordinateTransformation(mBodyToEcefCoordinateTransformationMatrix,
                        FrameType.BODY_FRAME, FrameType.EARTH_CENTERED_EARTH_FIXED_FRAME) : null;
    }

    /**
     * Gets body to ECEF coordinate transformation.
     *
     * @param threshold threshold to determine whether current body to ECEF transformation
     *                  matrix is valid or not (to check that matrix is 3x3 orthonormal).
     * @return body to ECEF coordinate transformation.
     * @throws InvalidRotationMatrixException if current body to ECEF transformation matrix
     *                                        is considered not valid (is not a 3x3 orthonormal matrix) with provided threshold.
     */
    public CoordinateTransformation getC(final double threshold) throws InvalidRotationMatrixException {
        return mBodyToEcefCoordinateTransformationMatrix != null ?
                new CoordinateTransformation(mBodyToEcefCoordinateTransformationMatrix,
                        FrameType.BODY_FRAME, FrameType.EARTH_CENTERED_EARTH_FIXED_FRAME, threshold) : null;
    }

    /**
     * Gets body to ECEF coordinate transformation.
     *
     * @param result instance where body to ECEF coordinate transformation will be stored.
     * @return true if result instance was updated, false otherwise.
     * @throws InvalidRotationMatrixException if current body to ECEF transformation matrix
     *                                        is not valid (is not a 3x3 orthonormal matrix).
     */
    public boolean getC(final CoordinateTransformation result) throws InvalidRotationMatrixException {
        if (mBodyToEcefCoordinateTransformationMatrix != null) {
            result.setSourceType(FrameType.BODY_FRAME);
            result.setDestinationType(FrameType.EARTH_CENTERED_EARTH_FIXED_FRAME);
            result.setMatrix(mBodyToEcefCoordinateTransformationMatrix);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets body to ECEF coordinate transformation.
     *
     * @param result    instance where body to ECEF coordinate transformation will be stored.
     * @param threshold threshold to determine whether current body to ECEF transformation
     *                  matrix is valid or not (to check that matrix is 3x3 orthonormal).
     * @return true if result instance was updated, false otherwise.
     * @throws InvalidRotationMatrixException if current body to ECEF transformation matrix
     *                                        is not valid (is not a 3x3 orthonormal matrix) with provided threshold.
     */
    public boolean getC(final CoordinateTransformation result,
                        final double threshold) throws InvalidRotationMatrixException {
        if (mBodyToEcefCoordinateTransformationMatrix != null) {
            result.setSourceType(FrameType.BODY_FRAME);
            result.setDestinationType(FrameType.EARTH_CENTERED_EARTH_FIXED_FRAME);
            result.setMatrix(mBodyToEcefCoordinateTransformationMatrix, threshold);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Sets body to ECEF coordinate transformation.
     *
     * @param c body to ECEF coordinate transformation to be set.
     * @throws IllegalArgumentException if provided coordinate transformation is
     * not null and is not a body to ECEF transformation.
     */
    public void setC(final CoordinateTransformation c) {
        if (c == null) {
            mBodyToEcefCoordinateTransformationMatrix = null;

        } else {

            if (c.getSourceType() != FrameType.BODY_FRAME ||
                    c.getDestinationType() != FrameType.EARTH_CENTERED_EARTH_FIXED_FRAME) {
                throw new IllegalArgumentException();
            }

            if (mBodyToEcefCoordinateTransformationMatrix != null) {
                c.getMatrix(mBodyToEcefCoordinateTransformationMatrix);
            } else {
                mBodyToEcefCoordinateTransformationMatrix = c.getMatrix();
            }
        }
    }

    /**
     * Gets estimated ECEF user velocity resolved around x axis.
     *
     * @param result instance where estimated ECEF user velocity resolved around x axis will be stored.
     */
    public void getSpeedX(final Speed result) {
        result.setValue(mVx);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets estimated ECEF user velocity resolved around x axis.
     *
     * @return estimated ECEF user velocity resolved around x axis.
     */
    public Speed getSpeedX() {
        return new Speed(mVx, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets estimated ECEF user velocity resolved around x axis.
     *
     * @param vx estimated ECEF user velocity resolved around x axis.
     */
    public void setSpeedX(final Speed vx) {
        mVx = SpeedConverter.convert(vx.getValue().doubleValue(),
                vx.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets estimated ECEF user velocity resolved around y axis.
     *
     * @param result instance where estimated ECEF user velocity resolved around y axis will be stored.
     */
    public void getSpeedY(final Speed result) {
        result.setValue(mVy);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets estimated ECEF user velocity resolved around y axis.
     *
     * @return estimated ECEF velocity resolved around y axis.
     */
    public Speed getSpeedY() {
        return new Speed(mVy, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets estimated ECEF user velocity resolved around y axis.
     *
     * @param vy estimated ECEF user velocity resolved around y axis.
     */
    public void setSpeedY(final Speed vy) {
        mVy = SpeedConverter.convert(vy.getValue().doubleValue(),
                vy.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets estimated ECEF user velocity resolved around z axis.
     *
     * @param result instance where estimated ECEF user velocity resolved around z axis will be stored.
     */
    public void getSpeedZ(final Speed result) {
        result.setValue(mVz);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets estimated ECEF user velocity resolved around z axis.
     *
     * @return estimated ECEF velocity resolved around z axis.
     */
    public Speed getSpeedZ() {
        return new Speed(mVz, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets estimated ECEF user velocity resolved around z axis.
     *
     * @param vz estimated ECEF velocity resolved around z axis.
     */
    public void setSpeedZ(final Speed vz) {
        mVz = SpeedConverter.convert(vz.getValue().doubleValue(),
                vz.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets estimated ECEF user velocity.
     *
     * @param vx estimated ECEF velocity resolved around x axis.
     * @param vy estimated ECEF velocity resolved around y axis.
     * @param vz estimated ECEF velocity resolved around z axis.
     */
    public void setVelocityCoordinates(
            final Speed vx, final Speed vy, final Speed vz) {
        setSpeedX(vx);
        setSpeedY(vy);
        setSpeedZ(vz);
    }

    /**
     * Gets estimated ECEF user velocity.
     *
     * @param result instance where estimated ECEF user velocity will be stored.
     */
    public void getEcefVelocity(final ECEFVelocity result) {
        result.setCoordinates(mVx, mVy, mVz);
    }

    /**
     * Gets estimated ECEF user velocity.
     *
     * @return estimated ECEF user velocity.
     */
    public ECEFVelocity getEcefVelocity() {
        return new ECEFVelocity(mVx, mVy, mVz);
    }

    /**
     * Sets estimated ECEF user velocity.
     *
     * @param ecefVelocity estimated ECEF user velocity.
     */
    public void setEcefVelocity(final ECEFVelocity ecefVelocity) {
        mVx = ecefVelocity.getVx();
        mVy = ecefVelocity.getVy();
        mVz = ecefVelocity.getVz();
    }

    /**
     * Gets x coordinate of estimated ECEF user position.
     *
     * @param result instance where x coordinate of estimated ECEF user position
     *               will be stored.
     */
    public void getDistanceX(final Distance result) {
        result.setValue(mX);
        result.setUnit(DistanceUnit.METER);
    }

    /**
     * Gets x coordinate of estimated ECEF user position.
     *
     * @return x coordinate of estimated ECEF user position.
     */
    public Distance getDistanceX() {
        return new Distance(mX, DistanceUnit.METER);
    }

    /**
     * Sets x coordinate of estimated ECEF user position.
     *
     * @param x x coordinate of estimated ECEF user position.
     */
    public void setDistanceX(final Distance x) {
        mX = DistanceConverter.convert(x.getValue().doubleValue(),
                x.getUnit(), DistanceUnit.METER);
    }

    /**
     * Gets y coordinate of estimated ECEF user position.
     *
     * @param result instance where y coordinate of estimated ECEF user position
     *               will be stored.
     */
    public void getDistanceY(final Distance result) {
        result.setValue(mY);
        result.setUnit(DistanceUnit.METER);
    }

    /**
     * Gets y coordinate of estimated ECEF user position.
     *
     * @return y coordinate of estimated ECEF user position.
     */
    public Distance getDistanceY() {
        return new Distance(mY, DistanceUnit.METER);
    }

    /**
     * Sets y coordinate of estimated ECEF user position.
     *
     * @param y y coordinate of estimated ECEF user position.
     */
    public void setDistanceY(final Distance y) {
        mY = DistanceConverter.convert(y.getValue().doubleValue(),
                y.getUnit(), DistanceUnit.METER);
    }

    /**
     * Gets z coordinate of estimated ECEF user position.
     *
     * @param result instance where z coordinate of estimated ECEF user position
     *               will be stored.
     */
    public void getDistanceZ(final Distance result) {
        result.setValue(mZ);
        result.setUnit(DistanceUnit.METER);
    }

    /**
     * Gets z coordinate of estimated ECEF user position.
     *
     * @return z coordinate of estimated ECEF user position.
     */
    public Distance getDistanceZ() {
        return new Distance(mZ, DistanceUnit.METER);
    }

    /**
     * Sets z coordinate of estimated ECEF user position.
     *
     * @param z z coordinate of estimated ECEF user position.
     */
    public void setDistanceZ(final Distance z) {
        mZ = DistanceConverter.convert(z.getValue().doubleValue(),
                z.getUnit(), DistanceUnit.METER);
    }

    /**
     * Sets coordinates of estimated ECEF user position.
     *
     * @param x x coordinate of estimated ECEF user position.
     * @param y y coordinate of estimated ECEF user position.
     * @param z z coordinate of estimated ECEF user position.
     */
    public void setPositionCoordinates(final Distance x, final Distance y, final Distance z) {
        setDistanceX(x);
        setDistanceY(y);
        setDistanceZ(z);
    }

    /**
     * Gets estimated ECEF user position expressed in meters (m).
     *
     * @param result instance where estimated ECEF user position expressed
     *               in meters (m) will be stored.
     */
    public void getPosition(final Point3D result) {
        result.setInhomogeneousCoordinates(mX, mY, mZ);
    }

    /**
     * Gets estimated ECEF user position expressed in meters (m).
     *
     * @return estimated ECEF user position expressed in meters (m).
     */
    public Point3D getPosition() {
        return new InhomogeneousPoint3D(mX, mY, mZ);
    }

    /**
     * Sets estimated ECEF user position expressed in meters (m).
     *
     * @param position estimated ECEF user position expressed in
     *                 meters (m).
     */
    public void setPosition(final Point3D position) {
        mX = position.getInhomX();
        mY = position.getInhomY();
        mZ = position.getInhomZ();
    }

    /**
     * Gets estimated ECEF user position.
     *
     * @param result instance where estimated ECEF user position
     *               will be stored.
     */
    public void getEcefPosition(final ECEFPosition result) {
        result.setCoordinates(mX, mY, mZ);
    }

    /**
     * Gets estimated ECEF user position.
     *
     * @return estimated ECEF user position.
     */
    public ECEFPosition getEcefPosition() {
        return new ECEFPosition(mX, mY, mZ);
    }

    /**
     * Sets estimated ECEF user position.
     *
     * @param ecefPosition estimated ECEF user position.
     */
    public void setEcefPosition(final ECEFPosition ecefPosition) {
        mX = ecefPosition.getX();
        mY = ecefPosition.getY();
        mZ = ecefPosition.getZ();
    }

    /**
     * Gets estimated ECEF user position and velocity.
     *
     * @param result instance where estimated ECEF user position and velocity
     *               will be stored.
     */
    public void getPositionAndVelocity(final ECEFPositionAndVelocity result) {
        result.setPositionCoordinates(mX, mY, mZ);
        result.setVelocityCoordinates(mVx, mVy, mVz);
    }

    /**
     * Gets estimated ECEF user position and velocity.
     *
     * @return estimated ECEF user position and velocity.
     */
    public ECEFPositionAndVelocity getPositionAndVelocity() {
        return new ECEFPositionAndVelocity(mX, mY, mZ, mVx, mVy, mVz);
    }

    /**
     * Sets estimated ECEF user position and velocity.
     *
     * @param positionAndVelocity estimated ECEF user position and velocity.
     */
    public void setPositionAndVelocity(final ECEFPositionAndVelocity positionAndVelocity) {
        mX = positionAndVelocity.getX();
        mY = positionAndVelocity.getY();
        mZ = positionAndVelocity.getZ();
        mVx = positionAndVelocity.getVx();
        mVy = positionAndVelocity.getVy();
        mVz = positionAndVelocity.getVz();
    }

    /**
     * Gets body to ECEF frame containing coordinate transformation, position and
     * velocity.
     *
     * @param result instance where body to ECEF frame will be stored.
     * @return true if result was updated, false otherwise.
     */
    public boolean getFrame(ECEFFrame result) {
        if (mBodyToEcefCoordinateTransformationMatrix != null) {
            try {
                result.setCoordinateTransformation(getC());
            } catch (final InvalidSourceAndDestinationFrameTypeException
                    | InvalidRotationMatrixException e) {
                return false;
            }
            result.setCoordinates(mX, mY, mZ);
            result.setVelocityCoordinates(mVx, mVy, mVz);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets body to ECEF frame containing coordinate transformation, position and
     * velocity.
     *
     * @return body to ECEF frame.
     */
    public ECEFFrame getFrame() {
        if (mBodyToEcefCoordinateTransformationMatrix != null) {
            try {
                return new ECEFFrame(mX, mY, mZ, mVx, mVy, mVz, getC());
            } catch (final InvalidSourceAndDestinationFrameTypeException
                    | InvalidRotationMatrixException e) {
                return null;
            }
        } else {
            return null;
        }
    }

    /**
     * Sets body to ECEF frame containing coordinate transformation, position and
     * velocity.
     *
     * @param frame body to ECEF frame to be set.
     */
    public void setFrame(final ECEFFrame frame) {
        mX = frame.getX();
        mY = frame.getY();
        mZ = frame.getZ();

        mVx = frame.getVx();
        mVy = frame.getVy();
        mVz = frame.getVz();

        if (mBodyToEcefCoordinateTransformationMatrix != null) {
            frame.getCoordinateTransformationMatrix(mBodyToEcefCoordinateTransformationMatrix);
        } else {
            mBodyToEcefCoordinateTransformationMatrix = frame.getCoordinateTransformationMatrix();
        }
    }

    /**
     * Gets estimated accelerometer bias resolved around x axis.
     *
     * @param result instance where estimated accelerometer bias resolved around
     *               x axis will be stored.
     */
    public void getAccelerationBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerationBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets estimated accelerometer bias resolved around x axis.
     *
     * @return estimated accelerometer bias resolved around x axis.
     */
    public Acceleration getAccelerationBiasXAsAcceleration() {
        return new Acceleration(mAccelerationBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets estimated accelerometer bias resolved around x axis.
     *
     * @param accelerationBiasX estimated accelerometer bias resolved
     *                          around x axis.
     */
    public void setAccelerationBiasX(final Acceleration accelerationBiasX) {
        mAccelerationBiasX = AccelerationConverter.convert(
                accelerationBiasX.getValue().doubleValue(),
                accelerationBiasX.getUnit(),
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets estimated accelerometer bias resolved around y axis.
     *
     * @param result instance where estimated accelerometer bias resolved around
     *               y axis will be stored.
     */
    public void getAccelerationBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerationBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets estimated accelerometer bias resolved around y axis.
     *
     * @return estimated accelerometer bias resolved around y axis.
     */
    public Acceleration getAccelerationBiasYAsAcceleration() {
        return new Acceleration(mAccelerationBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets estimated accelerometer bias resolved around y axis.
     *
     * @param accelerationBiasY estimated accelerometer bias resolved
     *                          around y axis.
     */
    public void setAccelerationBiasY(final Acceleration accelerationBiasY) {
        mAccelerationBiasY = AccelerationConverter.convert(
                accelerationBiasY.getValue().doubleValue(),
                accelerationBiasY.getUnit(),
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets estimated accelerometer bias resolved around z axis.
     *
     * @param result instance where estimated accelerometer bias resolved around
     *               z axis will be stored.
     */
    public void getAccelerationBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerationBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets estimated accelerometer bias resolved around z axis.
     *
     * @return estimated accelerometer bias resolved around z axis.
     */
    public Acceleration getAccelerationBiasZAsAcceleration() {
        return new Acceleration(mAccelerationBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets estimated accelerometer bias resolved around z axis.
     *
     * @param accelerationBiasZ estimated accelerometer bias resolved
     *                          around z axis.
     */
    public void setAccelerationBiasZ(final Acceleration accelerationBiasZ) {
        mAccelerationBiasZ = AccelerationConverter.convert(
                accelerationBiasZ.getValue().doubleValue(),
                accelerationBiasZ.getUnit(),
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets estimated accelerometer bias coordinates.
     *
     * @param accelerationBiasX estimated accelerometer bias resolved around x axis.
     * @param accelerationBiasY estimated accelerometer bias resolved around y axis.
     * @param accelerationBiasZ estimated accelerometer bias resolved around z axis.
     */
    public void setAccelerationBiasCoordinates(
            final Acceleration accelerationBiasX, final Acceleration accelerationBiasY,
            final Acceleration accelerationBiasZ) {
        setAccelerationBiasX(accelerationBiasX);
        setAccelerationBiasY(accelerationBiasY);
        setAccelerationBiasZ(accelerationBiasZ);
    }

    /**
     * Gets estimated gyroscope bias resolved around x axis.
     *
     * @param result instance where estimated gyroscope bias resolved around x axis will
     *               be stored.
     */
    public void getAngularSpeedGyroBiasX(final AngularSpeed result) {
        result.setValue(mGyroBiasX);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets estimated gyroscope bias resolved around x axis.
     *
     * @return estimated gyroscope bias resolved around x axis.
     */
    public AngularSpeed getAngularSpeedGyroBiasX() {
        return new AngularSpeed(mGyroBiasX, AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets estimated gyroscope bias resolved around x axis.
     *
     * @param gyroBiasX estimated gyroscope bias resolved around x axis.
     */
    public void setGyroBiasX(final AngularSpeed gyroBiasX) {
        mGyroBiasX = AngularSpeedConverter.convert(
                gyroBiasX.getValue().doubleValue(),
                gyroBiasX.getUnit(), AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets estimated gyroscope bias resolved around y axis.
     *
     * @param result instance where estimated gyroscope bias resolved around y axis will
     *               be stored.
     */
    public void getAngularSpeedGyroBiasY(final AngularSpeed result) {
        result.setValue(mGyroBiasY);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets estimated gyroscope bias resolved around y axis.
     *
     * @return estimated gyroscope bias resolved around y axis.
     */
    public AngularSpeed getAngularSpeedGyroBiasY() {
        return new AngularSpeed(mGyroBiasY, AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets estimated gyroscope bias resolved around y axis.
     *
     * @param gyroBiasY estimated gyroscope bias resolved around y axis.
     */
    public void setGyroBiasY(final AngularSpeed gyroBiasY) {
        mGyroBiasY = AngularSpeedConverter.convert(
                gyroBiasY.getValue().doubleValue(),
                gyroBiasY.getUnit(), AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets estimated gyroscope bias resolved around z axis.
     *
     * @param result instance where estimated gyroscope bias resolved around z axis will
     *               be stored.
     */
    public void getAngularSpeedGyroBiasZ(final AngularSpeed result) {
        result.setValue(mGyroBiasZ);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets estimated gyroscope bias resolved around z axis.
     *
     * @return estimated gyroscope bias resolved around z axis.
     */
    public AngularSpeed getAngularSpeedGyroBiasZ() {
        return new AngularSpeed(mGyroBiasZ, AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets estimated gyroscope bias resolved around z axis.
     *
     * @param gyroBiasZ estimated gyroscope bias resolved around z axis.
     */
    public void setGyroBiasZ(final AngularSpeed gyroBiasZ) {
        mGyroBiasZ = AngularSpeedConverter.convert(
                gyroBiasZ.getValue().doubleValue(),
                gyroBiasZ.getUnit(), AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets estimated gyroscope bias coordinates.
     *
     * @param gyroBiasX estimated gyroscope bias resolved around x axis.
     * @param gyroBiasY estimated gyroscope bias resolved around y axis.
     * @param gyroBiasZ estimated gyroscope bias resolved around z axis.
     */
    public void setGyroBiasCoordinates(
            final AngularSpeed gyroBiasX, final AngularSpeed gyroBiasY,
            final AngularSpeed gyroBiasZ) {
        setGyroBiasX(gyroBiasX);
        setGyroBiasY(gyroBiasY);
        setGyroBiasZ(gyroBiasZ);
    }

    /**
     * Copies this instance data into provided instance.
     *
     * @param output destination instance where data will be copied to.
     */
    public void copyTo(final INSLooselyCoupledKalmanState output) {

            final RobustTurntableGyroscopeCalibratorListener listener) {
        this(convertPosition(position), turntableRotationRate, timeInterval,
                measurements, commonAxisUsed, estimateGDependentCrossBiases,
                initialBias, initialMg, initialGg, accelerometerBias,
                accelerometerMa, listener);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasX() {
        return mAccelerometerBiasX;
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX known x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final double accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = accelerometerBiasX;
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasY() {
        return mAccelerometerBiasY;
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasY known y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final double accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = accelerometerBiasY;
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasZ() {
        return mAccelerometerBiasZ;
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasZ known z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final double accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasXAsAcceleration() {
        return new Acceleration(mAccelerometerBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final Acceleration accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasYAsAcceleration() {
        return new Acceleration(mAccelerometerBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final Acceleration accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasZAsAcceleration() {
        return new Acceleration(mAccelerometerBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final double accelerometerBiasX,
            final double accelerometerBiasY,
            final double accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = accelerometerBiasX;
        mAccelerometerBiasY = accelerometerBiasY;
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final Acceleration accelerometerBiasX,
            final Acceleration accelerometerBiasY,
            final Acceleration accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public double[] getAccelerometerBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getAccelerometerBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void getAccelerometerBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result[0] = mAccelerometerBiasX;
        result[1] = mAccelerometerBiasY;
        result[2] = mAccelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void setAccelerometerBias(final double[] accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias[0];
        mAccelerometerBiasY = accelerometerBias[1];
        mAccelerometerBiasZ = accelerometerBias[2];
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public Matrix getAccelerometerBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getAccelerometerBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getAccelerometerBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerBiasX);
        result.setElementAtIndex(1, mAccelerometerBiasY);
        result.setElementAtIndex(2, mAccelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias. Must be 3x1.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setAccelerometerBias(final Matrix accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS
                || accelerometerBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias.getElementAtIndex(0);
        mAccelerometerBiasY = accelerometerBias.getElementAtIndex(1);
        mAccelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
    }

    /**
     * Gets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer x scaling factor.
     */
    public double getAccelerometerSx() {
        return mAccelerometerSx;
    }

    /**
     * Sets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSx(final double accelerometerSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
    }

    /**
     * Gets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer y scaling factor.
     */
    public double getAccelerometerSy() {
        return mAccelerometerSy;
    }

    /**
     * Sets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSy known accelerometer y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSy(final double accelerometerSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSy = accelerometerSy;
    }

    /**
     * Gets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer z scaling factor.
     */
    public double getAccelerometerSz() {
        return mAccelerometerSz;
    }

    /**
     * Sets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSz(final double accelerometerSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Gets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-y cross coupling error.
     */
    public double getAccelerometerMxy() {
        return mAccelerometerMxy;
    }

    /**
     * Sets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxy(final double accelerometerMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
    }

    /**
     * Gets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-z cross coupling error.
     */
    public double getAccelerometerMxz() {
        return mAccelerometerMxz;
    }

    /**
     * Sets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxz known accelerometer x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxz(final double accelerometerMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxz = accelerometerMxz;
    }

    /**
     * Gets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-x cross coupling error.
     */
    public double getAccelerometerMyx() {
        return mAccelerometerMyx;
    }

    /**
     * Sets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyx(final double accelerometerMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyx = accelerometerMyx;
    }

    /**
     * Gets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-z cross coupling error.
     */
    public double getAccelerometerMyz() {
        return mAccelerometerMyz;
    }

    /**
     * Sets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyz(final double accelerometerMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyz = accelerometerMyz;
    }

    /**
     * Gets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-x cross coupling error.
     */
    public double getAccelerometerMzx() {
        return mAccelerometerMzx;
    }

    /**
     * Sets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzx(final double accelerometerMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzx = accelerometerMzx;
    }

    /**
     * Gets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-y cross coupling error.
     */
    public double getAccelerometerMzy() {
        return mAccelerometerMzy;
    }

    /**
     * Sets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzy(final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors to be used to fix measured
     * specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @param accelerometerSy known accelerometer y scaling factor.
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
        mAccelerometerSy = accelerometerSy;
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Sets known accelerometer cross coupling errors to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerCrossCouplingErrors(
            final double accelerometerMxy, final double accelerometerMxz,
            final double accelerometerMyx, final double accelerometerMyz,
            final double accelerometerMzx, final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
        mAccelerometerMxz = accelerometerMxz;
        mAccelerometerMyx = accelerometerMyx;
        mAccelerometerMyz = accelerometerMyz;
        mAccelerometerMzx = accelerometerMzx;
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors and cross coupling errors
     * to be used to fix measured specific force and find cross biases
     * introduced by the accelerometer.
     *
     * @param accelerometerSx  known accelerometer x scaling factor.
     * @param accelerometerSy  known accelerometer y scaling factor.
     * @param accelerometerSz  known accelerometer z scaling factor.
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz, final double accelerometerMxy,
            final double accelerometerMxz, final double accelerometerMyx,
            final double accelerometerMyz, final double accelerometerMzx,
            final double accelerometerMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setAccelerometerScalingFactors(accelerometerSx, accelerometerSy,
                accelerometerSz);
        setAccelerometerCrossCouplingErrors(accelerometerMxy,
                accelerometerMxz, accelerometerMyx,
                accelerometerMyz, accelerometerMzx,
                accelerometerMzy);
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @return known accelerometer scale factors and cross coupling
     * errors matrix.
     */
    public Matrix getAccelerometerMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getAccelerometerMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getAccelerometerMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerSx);
        result.setElementAtIndex(1, mAccelerometerMyx);
        result.setElementAtIndex(2, mAccelerometerMzx);

        result.setElementAtIndex(3, mAccelerometerMxy);
        result.setElementAtIndex(4, mAccelerometerSy);
        result.setElementAtIndex(5, mAccelerometerMzy);

        result.setElementAtIndex(6, mAccelerometerMxz);
        result.setElementAtIndex(7, mAccelerometerMyz);
        result.setElementAtIndex(8, mAccelerometerSz);
    }

    /**
     * Sets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param accelerometerMa known accelerometer scale factors and
     *                        cross coupling errors matrix. Must be 3x3.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setAccelerometerMa(final Matrix accelerometerMa)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
                || accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerSx = accelerometerMa.getElementAtIndex(0);
        mAccelerometerMyx = accelerometerMa.getElementAtIndex(1);
        mAccelerometerMzx = accelerometerMa.getElementAtIndex(2);

        mAccelerometerMxy = accelerometerMa.getElementAtIndex(3);
        mAccelerometerSy = accelerometerMa.getElementAtIndex(4);
        mAccelerometerMzy = accelerometerMa.getElementAtIndex(5);

        mAccelerometerMxz = accelerometerMa.getElementAtIndex(6);
        mAccelerometerMyz = accelerometerMa.getElementAtIndex(7);
        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public double getInitialBiasX() {
        return mInitialBiasX;
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final double initialBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public double getInitialBiasY() {
        return mInitialBiasY;
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final double initialBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = initialBiasY;
    }

    /**
     * Gets initial z-coordinate of gyroscope bias ot be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public double getInitialBiasZ() {
        return mInitialBiasZ;
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final double initialBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedX() {
        return new AngularSpeed(mInitialBiasX,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedX(final AngularSpeed result) {
        result.setValue(mInitialBiasX);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final AngularSpeed initialBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedY() {
        return new AngularSpeed(mInitialBiasY,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedY(final AngularSpeed result) {
        result.setValue(mInitialBiasY);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final AngularSpeed initialBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = convertAngularSpeed(initialBiasY);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedZ() {
        return new AngularSpeed(mInitialBiasZ,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedZ(final AngularSpeed result) {
        result.setValue(mInitialBiasZ);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final AngularSpeed initialBiasZ)

    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public double getInitialBiasX() {
        return mInitialBiasX;
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final double initialBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public double getInitialBiasY() {
        return mInitialBiasY;
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final double initialBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = initialBiasY;
    }

    /**
     * Gets initial z-coordinate of gyroscope bias ot be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public double getInitialBiasZ() {
        return mInitialBiasZ;
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final double initialBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedX() {
        return new AngularSpeed(mInitialBiasX,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedX(final AngularSpeed result) {
        result.setValue(mInitialBiasX);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final AngularSpeed initialBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedY() {
        return new AngularSpeed(mInitialBiasY,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedY(final AngularSpeed result) {
        result.setValue(mInitialBiasY);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final AngularSpeed initialBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = convertAngularSpeed(initialBiasY);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedZ() {
        return new AngularSpeed(mInitialBiasZ,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedZ(final AngularSpeed result) {
        result.setValue(mInitialBiasZ);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find a
     * solution.
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final AngularSpeed initialBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution
     * expressed in radians per second (rad/s).
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(
            final double initialBiasX, final double initialBiasY,
            final double initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
        mInitialBiasY = initialBiasY;
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(
            final AngularSpeed initialBiasX,
            final AngularSpeed initialBiasY,
            final AngularSpeed initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
        mInitialBiasY = convertAngularSpeed(initialBiasY);
        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Gets initial x scaling factor of gyroscope.
     *
     * @return initial x scaling factor of gyroscope.
     */
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSx(final double initialSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor of gyroscope.
     *
     * @return initial y scaling factor of gyroscope.
     */
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor of gyroscope.
     *
     * @param initialSy initial y scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSy(final double initialSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor of gyroscope.
     *
     * @return initial z scaling factor of gyroscope.
     */
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor of gyroscope.
     *
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSz(final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error of gyroscope.
     *
     * @return initial x-y cross coupling error of gyroscope.
     */
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxy(final double initialMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error of gyroscope.
     *
     * @return initial x-z cross coupling error of gyroscope.
     */
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error of gyroscope.
     *
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxz(final double initialMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error of gyroscope.
     *
     * @return initial y-x cross coupling error of gyroscope.
     */
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error of gyroscope.
     *
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyx(final double initialMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error of gyroscope.
     *
     * @return initial y-z cross coupling error of gyroscope.
     */
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error of gyroscope.
     *
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyz(final double initialMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error of gyroscope.
     *
     * @return initial z-x cross coupling error of gyroscope.
     */
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error of gyroscope.
     *
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzx(final double initialMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error of gyroscope.
     *
     * @return initial z-y cross coupling error of gyroscope.
     */
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error of gyroscope.
     *
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzy(final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @param initialSy initial y scaling factor of gyroscope.
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy,
            final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors of
     * gyroscope.
     *
     * @param initialSx  initial x scaling factor of gyroscope.
     * @param initialSy  initial y scaling factor of gyroscope.
     * @param initialSz  initial z scaling factor of gyroscope.
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @return array containing coordinates of initial gyroscope bias.
     */
    public double[] getInitialBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getInitialBias(result);
        return result;
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void getInitialBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mInitialBiasX;
        result[1] = mInitialBiasY;
        result[2] = mInitialBiasZ;
    }

    /**
     * Sets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param initialBias initial bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void setInitialBias(final double[] initialBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mInitialBiasX = initialBias[0];
        mInitialBiasY = initialBias[1];
        mInitialBiasZ = initialBias[2];
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as a
     * column matrix.
     *
     * @return initial gyroscope bias to be used to find a solution as a
     * column matrix.
     */
    public Matrix getInitialBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getInitialBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as a
     * column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getInitialBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialBiasX);
        result.setElementAtIndex(1, mInitialBiasY);
        result.setElementAtIndex(2, mInitialBiasZ);
    }

    /**
     * Sets initial gyroscope bias to be used to find a solution as
     * a column matrix.
     *
     * @param initialBias initial gyroscope bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setInitialBias(final Matrix initialBias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialBias.getRows() != BodyKinematics.COMPONENTS
                || initialBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mInitialBiasX = initialBias.getElementAtIndex(0);
        mInitialBiasY = initialBias.getElementAtIndex(1);
        mInitialBiasZ = initialBias.getElementAtIndex(2);
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @return initial gyroscope scale factors and cross coupling errors
     * matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial gyroscope scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets collection of sequences of timestamped body kinematics
     * measurements taken at a given position where the device moves freely
     * with different orientations.
     *
     * @return collection of sequences of timestamped body kinematics
     * measurements.
     */
    public List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences() {

    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a solutions.
     * This is expressed in radians per second (rad/s) and only taken into
     * account if non-linear preliminary solutions are used.
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public double getInitialBiasX() {
        return mInitialBiasX;
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find a solution.
     * This is expressed in radians per second (rad/s) and only taken into
     * account if non-linear preliminary solutions are used.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final double initialBiasX) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a solution.
     * This is expressed in radians per second (rad/s) and only taken into
     * account if non-linear preliminary solutions are used.
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public double getInitialBiasY() {
        return mInitialBiasY;
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find a solution.
     * This is expressed in radians per second (rad/s) and only taken into
     * account if non-linear preliminary solutions are used.
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final double initialBiasY) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = initialBiasY;
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a solution.
     * This is expressed in radians per second (rad/s) and only taken into
     * account if non-linear preliminary solutions are used.
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public double getInitialBiasZ() {
        return mInitialBiasZ;
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find a solution.
     * This is expressed in radians per second (rad/s) and only taken into
     * account if non-linear preliminary solutions are used.
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final double initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a solution.
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedX() {
        return new AngularSpeed(mInitialBiasX,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find a solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedX(final AngularSpeed result) {
        result.setValue(mInitialBiasX);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial x-coordinate of gyroscope bias to be used to find a solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasX(final AngularSpeed initialBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a solution.
     *
     * @return initial y-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedY() {
        return new AngularSpeed(mInitialBiasY,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial y-coordinate of gyroscope bias to be used to find a solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedY(final AngularSpeed result) {
        result.setValue(mInitialBiasY);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial y-coordinate of gyroscope bias to be used to find a solution.
     *
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasY(final AngularSpeed initialBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasY = convertAngularSpeed(initialBiasY);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a solution.
     *
     * @return initial z-coordinate of gyroscope bias.
     */
    public AngularSpeed getInitialBiasAngularSpeedZ() {
        return new AngularSpeed(mInitialBiasZ,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial z-coordinate of gyroscope bias to be used to find a solution.
     *
     * @param result instance where result data will be stored.
     */
    public void getInitialBiasAngularSpeedZ(final AngularSpeed result) {
        result.setValue(mInitialBiasZ);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial z-coordinate of gyroscope bias to be used to find a solution.
     *
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBiasZ(final AngularSpeed initialBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution
     * expressed in radians per second (rad/s).
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(final double initialBiasX, final double initialBiasY,
                               final double initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
        mInitialBiasY = initialBiasY;
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(final AngularSpeed initialBiasX,
                               final AngularSpeed initialBiasY,
                               final AngularSpeed initialBiasZ)
            throws LockedException {

        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
        mInitialBiasY = convertAngularSpeed(initialBiasY);
        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Gets initial x scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial x scaling factor.
     */
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSx initial x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSx(final double initialSx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial y scaling factor.
     */
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSy initial y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSy(final double initialSy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial z scaling factor.
     */
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSz(final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial x-y cross coupling error.
     */
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxy(final double initialMxy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial x-z cross coupling error.
     */
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMxz initial x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxz(final double initialMxz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial y-x cross coupling error.
     */
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMyx initial y-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyx(final double initialMyx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial y-z cross coupling error.
     */
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMyz initial y-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyz(final double initialMyz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial z-x cross coupling error.
     */
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMzx initial z-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzx(final double initialMzx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial z-y cross coupling error.
     */
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzy(final double initialMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSx initial x scaling factor.
     * @param initialSy initial y scaling factor.
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy, final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSx  initial x scaling factor.
     * @param initialSy  initial y scaling factor.
     * @param initialSz  initial z scaling factor.
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets initial bias to be used to find a solution as an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @return array containing coordinates of initial bias.
     */
    public double[] getInitialBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getInitialBias(result);
        return result;
    }

    /**
     * Gets initial bias to be used to find a solution as an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void getInitialBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mInitialBiasX;
        result[1] = mInitialBiasY;
        result[2] = mInitialBiasZ;
    }

    /**
     * Sets initial bias to be used to find a solution as an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param initialBias initial bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void setInitialBias(final double[] initialBias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mInitialBiasX = initialBias[0];
        mInitialBiasY = initialBias[1];
        mInitialBiasZ = initialBias[2];
    }

    /**
     * Gets initial bias to be used to find a solution as a column matrix.
     *
     * @return initial bias to be used to find a solution as a column matrix.
     */
    public Matrix getInitialBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getInitialBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial bias to be used to find a solution as a column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getInitialBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialBiasX);
        result.setElementAtIndex(1, mInitialBiasY);
        result.setElementAtIndex(2, mInitialBiasZ);
    }

    /**
     * Sets initial bias to be used to find a solution as an array.
     *
     * @param initialBias initial bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setInitialBias(final Matrix initialBias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialBias.getRows() != BodyKinematics.COMPONENTS
                || initialBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mInitialBiasX = initialBias.getElementAtIndex(0);
        mInitialBiasY = initialBias.getElementAtIndex(1);
        mInitialBiasZ = initialBias.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets a list of body kinematics measurements taken at different
     * frames (positions, orientations and velocities) and containing the standard
     * deviations of accelerometer and gyroscope measurements.
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @return a collection of body kinematics measurements taken at different
     * frames (positions, orientations and velocities).
     */
    public List<StandardDeviationFrameBodyKinematics> getMeasurements() {

        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution
     * expressed in radians per second (rad/s).
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(
            final double initialBiasX, final double initialBiasY,
            final double initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = initialBiasX;
        mInitialBiasY = initialBiasY;
        mInitialBiasZ = initialBiasZ;
    }

    /**
     * Sets initial bias coordinates of gyroscope used to find a solution.
     *
     * @param initialBiasX initial x-coordinate of gyroscope bias.
     * @param initialBiasY initial y-coordinate of gyroscope bias.
     * @param initialBiasZ initial z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialBias(
            final AngularSpeed initialBiasX,
            final AngularSpeed initialBiasY,
            final AngularSpeed initialBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialBiasX = convertAngularSpeed(initialBiasX);
        mInitialBiasY = convertAngularSpeed(initialBiasY);
        mInitialBiasZ = convertAngularSpeed(initialBiasZ);
    }

    /**
     * Gets initial x scaling factor of gyroscope.
     *
     * @return initial x scaling factor of gyroscope.
     */
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSx(final double initialSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor of gyroscope.
     *
     * @return initial y scaling factor of gyroscope.
     */
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor of gyroscope.
     *
     * @param initialSy initial y scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSy(final double initialSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor of gyroscope.
     *
     * @return initial z scaling factor of gyroscope.
     */
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor of gyroscope.
     *
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSz(final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error of gyroscope.
     *
     * @return initial x-y cross coupling error of gyroscope.
     */
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxy(final double initialMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error of gyroscope.
     *
     * @return initial x-z cross coupling error of gyroscope.
     */
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error of gyroscope.
     *
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxz(final double initialMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error of gyroscope.
     *
     * @return initial y-x cross coupling error of gyroscope.
     */
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error of gyroscope.
     *
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyx(final double initialMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error of gyroscope.
     *
     * @return initial y-z cross coupling error of gyroscope.
     */
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error of gyroscope.
     *
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyz(final double initialMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error of gyroscope.
     *
     * @return initial z-x cross coupling error of gyroscope.
     */
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error of gyroscope.
     *
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzx(final double initialMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error of gyroscope.
     *
     * @return initial z-y cross coupling error of gyroscope.
     */
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error of gyroscope.
     *
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzy(final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors of gyroscope.
     *
     * @param initialSx initial x scaling factor of gyroscope.
     * @param initialSy initial y scaling factor of gyroscope.
     * @param initialSz initial z scaling factor of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy,
            final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors of gyroscope.
     *
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors of
     * gyroscope.
     *
     * @param initialSx  initial x scaling factor of gyroscope.
     * @param initialSy  initial y scaling factor of gyroscope.
     * @param initialSz  initial z scaling factor of gyroscope.
     * @param initialMxy initial x-y cross coupling error of gyroscope.
     * @param initialMxz initial x-z cross coupling error of gyroscope.
     * @param initialMyx initial y-x cross coupling error of gyroscope.
     * @param initialMyz initial y-z cross coupling error of gyroscope.
     * @param initialMzx initial z-x cross coupling error of gyroscope.
     * @param initialMzy initial z-y cross coupling error of gyroscope.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @return array containing coordinates of initial gyroscope bias.
     */
    public double[] getInitialBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getInitialBias(result);
        return result;
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void getInitialBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mInitialBiasX;
        result[1] = mInitialBiasY;
        result[2] = mInitialBiasZ;
    }

    /**
     * Sets initial gyroscope bias to be used to find a solution as
     * an array.
     * Array values are expressed in radians per second (rad/s).
     *
     * @param initialBias initial bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    public void setInitialBias(final double[] initialBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mInitialBiasX = initialBias[0];
        mInitialBiasY = initialBias[1];
        mInitialBiasZ = initialBias[2];
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as a
     * column matrix.
     *
     * @return initial gyroscope bias to be used to find a solution as a
     * column matrix.
     */
    public Matrix getInitialBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getInitialBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope bias to be used to find a solution as a
     * column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getInitialBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialBiasX);
        result.setElementAtIndex(1, mInitialBiasY);
        result.setElementAtIndex(2, mInitialBiasZ);
    }

    /**
     * Sets initial gyroscope bias to be used to find a solution as
     * an array.
     *
     * @param initialBias initial gyroscope bias to find a solution.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setInitialBias(final Matrix initialBias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialBias.getRows() != BodyKinematics.COMPONENTS
                || initialBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mInitialBiasX = initialBias.getElementAtIndex(0);
        mInitialBiasY = initialBias.getElementAtIndex(1);
        mInitialBiasZ = initialBias.getElementAtIndex(2);
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @return initial gyroscope scale factors and cross coupling errors
     * matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial gyroscope scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets constant rotation rate at which the turntable is spinning.
     * This is expressed in radians per second (rad/s).
     *
     * @return constant rotation rate of turntable.
     */
    public double getTurntableRotationRate() {
        return mTurntableRotationRate;
    }

    /**
     * Sets constant rotation rate at which the turntable is spinning.
     * This is expressed in radians per second (rad/s).
     *
     * @param turntableRotationRate constant rotation rate of turntable.
     * @throws LockedException          if calibrator is currently running
     * @throws IllegalArgumentException if provided value is zero or
     *                                  negative.
     */
    public void setTurntableRotationRate(
            final double turntableRotationRate) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (turntableRotationRate <= 0.0) {
            throw new IllegalArgumentException();
        }

        mTurntableRotationRate = turntableRotationRate;
    }

    /**
     * Gets constant rotation rate at which the turntable is spinning.
     *
     * @return constant rotation rate of turntable.
     */
    public AngularSpeed getTurntableRotationRateAsAngularSpeed() {
        return new AngularSpeed(mTurntableRotationRate,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets constant rotation rate at which the turntable is spinning.
     *
     * @param result instance where result will be stored.
     */
    public void getTurntableRotationRateAsAngularSpeed(
            final AngularSpeed result) {
        result.setValue(mTurntableRotationRate);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets constant rotation rate at which the turntable is spinning.
     *
     * @param turntableRotationRate constant rotation rate of turntable.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is zero or
     *                                  negative.
     */
    public void setTurntableRotationRate(
            final AngularSpeed turntableRotationRate)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setTurntableRotationRate(
                convertAngularSpeed(turntableRotationRate));
    }

    /**
     * Gets time interval between measurements being captured expressed in
     * seconds (s).
     *
     * @return time interval between measurements.
     */
    public double getTimeInterval() {
        return mTimeInterval;
    }

    /**
     * Sets time interval between measurements being captured expressed in
     * seconds (s).
     *
     * @param timeInterval time interval between measurements.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is zero or
     *                                  negative.
     */
    public void setTimeInterval(final double timeInterval)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (timeInterval <= 0.0) {
            throw new IllegalArgumentException();
        }
        mTimeInterval = timeInterval;
    }

    /**
     * Gets time interval between measurements being captured.
     *
     * @return time interval between measurements.
     */
    public Time getTimeIntervalAsTime() {
        return new Time(mTimeInterval, TimeUnit.SECOND);
    }

    /**
     * Gets time interval between measurements being captured.
     *
     * @param result instance where result will be stored.
     */
    public void getTimeIntervalAsTime(final Time result) {
        result.setValue(mTimeInterval);
        result.setUnit(TimeUnit.SECOND);
    }

    /**
     * Sets time interval between measurements being captured.
     *
     * @param timeInterval time interval between measurements.
     * @throws LockedException if calibrator is currently running.
     */
    public void setTimeInterval(final Time timeInterval)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setTimeInterval(convertTime(timeInterval));
    }

    /**
     * Gets a collection of body kinematics measurements taken at
     * a given position with different unknown orientations and containing
     * the standard deviations of accelerometer and gyroscope measurements.
     *
     * @return collection of body kinematics measurements at a known position
     * with unknown orientations.
     */
    public List<StandardDeviationBodyKinematics> getMeasurements() {

                estimateGDependentCrossBiases, initialBias, initialMg,
                initialGg, accelerometerBias, accelerometerMa);
        mListener = listener;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasX() {
        return mAccelerometerBiasX;
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX known x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final double accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = accelerometerBiasX;
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasY() {
        return mAccelerometerBiasY;
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasY known y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final double accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = accelerometerBiasY;
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasZ() {
        return mAccelerometerBiasZ;
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasZ known z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final double accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasXAsAcceleration() {
        return new Acceleration(mAccelerometerBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final Acceleration accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasYAsAcceleration() {
        return new Acceleration(mAccelerometerBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final Acceleration accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasZAsAcceleration() {
        return new Acceleration(mAccelerometerBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final double accelerometerBiasX,
            final double accelerometerBiasY,
            final double accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = accelerometerBiasX;
        mAccelerometerBiasY = accelerometerBiasY;
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final Acceleration accelerometerBiasX,
            final Acceleration accelerometerBiasY,
            final Acceleration accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public double[] getAccelerometerBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getAccelerometerBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void getAccelerometerBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result[0] = mAccelerometerBiasX;
        result[1] = mAccelerometerBiasY;
        result[2] = mAccelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void setAccelerometerBias(final double[] accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias[0];
        mAccelerometerBiasY = accelerometerBias[1];
        mAccelerometerBiasZ = accelerometerBias[2];
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public Matrix getAccelerometerBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getAccelerometerBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getAccelerometerBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerBiasX);
        result.setElementAtIndex(1, mAccelerometerBiasY);
        result.setElementAtIndex(2, mAccelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias. Must be 3x1.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setAccelerometerBias(final Matrix accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS
                || accelerometerBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias.getElementAtIndex(0);
        mAccelerometerBiasY = accelerometerBias.getElementAtIndex(1);
        mAccelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
    }

    /**
     * Gets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer x scaling factor.
     */
    public double getAccelerometerSx() {
        return mAccelerometerSx;
    }

    /**
     * Sets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSx(final double accelerometerSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
    }

    /**
     * Gets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer y scaling factor.
     */
    public double getAccelerometerSy() {
        return mAccelerometerSy;
    }

    /**
     * Sets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSy known accelerometer y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSy(final double accelerometerSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSy = accelerometerSy;
    }

    /**
     * Gets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer z scaling factor.
     */
    public double getAccelerometerSz() {
        return mAccelerometerSz;
    }

    /**
     * Sets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSz(final double accelerometerSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Gets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-y cross coupling error.
     */
    public double getAccelerometerMxy() {
        return mAccelerometerMxy;
    }

    /**
     * Sets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxy(final double accelerometerMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
    }

    /**
     * Gets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-z cross coupling error.
     */
    public double getAccelerometerMxz() {
        return mAccelerometerMxz;
    }

    /**
     * Sets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxz known accelerometer x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxz(final double accelerometerMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxz = accelerometerMxz;
    }

    /**
     * Gets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-x cross coupling error.
     */
    public double getAccelerometerMyx() {
        return mAccelerometerMyx;
    }

    /**
     * Sets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyx(final double accelerometerMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyx = accelerometerMyx;
    }

    /**
     * Gets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-z cross coupling error.
     */
    public double getAccelerometerMyz() {
        return mAccelerometerMyz;
    }

    /**
     * Sets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyz(final double accelerometerMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyz = accelerometerMyz;
    }

    /**
     * Gets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-x cross coupling error.
     */
    public double getAccelerometerMzx() {
        return mAccelerometerMzx;
    }

    /**
     * Sets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzx(final double accelerometerMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzx = accelerometerMzx;
    }

    /**
     * Gets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-y cross coupling error.
     */
    public double getAccelerometerMzy() {
        return mAccelerometerMzy;
    }

    /**
     * Sets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzy(final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors to be used to fix measured
     * specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @param accelerometerSy known accelerometer y scaling factor.
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
        mAccelerometerSy = accelerometerSy;
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Sets known accelerometer cross coupling errors to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerCrossCouplingErrors(
            final double accelerometerMxy, final double accelerometerMxz,
            final double accelerometerMyx, final double accelerometerMyz,
            final double accelerometerMzx, final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
        mAccelerometerMxz = accelerometerMxz;
        mAccelerometerMyx = accelerometerMyx;
        mAccelerometerMyz = accelerometerMyz;
        mAccelerometerMzx = accelerometerMzx;
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors and cross coupling errors
     * to be used to fix measured specific force and find cross biases
     * introduced by the accelerometer.
     *
     * @param accelerometerSx  known accelerometer x scaling factor.
     * @param accelerometerSy  known accelerometer y scaling factor.
     * @param accelerometerSz  known accelerometer z scaling factor.
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz, final double accelerometerMxy,
            final double accelerometerMxz, final double accelerometerMyx,
            final double accelerometerMyz, final double accelerometerMzx,
            final double accelerometerMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setAccelerometerScalingFactors(accelerometerSx, accelerometerSy,
                accelerometerSz);
        setAccelerometerCrossCouplingErrors(accelerometerMxy,
                accelerometerMxz, accelerometerMyx,
                accelerometerMyz, accelerometerMzx,
                accelerometerMzy);
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @return known accelerometer scale factors and cross coupling
     * errors matrix.
     */
    public Matrix getAccelerometerMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getAccelerometerMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getAccelerometerMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerSx);
        result.setElementAtIndex(1, mAccelerometerMyx);
        result.setElementAtIndex(2, mAccelerometerMzx);

        result.setElementAtIndex(3, mAccelerometerMxy);
        result.setElementAtIndex(4, mAccelerometerSy);
        result.setElementAtIndex(5, mAccelerometerMzy);

        result.setElementAtIndex(6, mAccelerometerMxz);
        result.setElementAtIndex(7, mAccelerometerMyz);
        result.setElementAtIndex(8, mAccelerometerSz);
    }

    /**
     * Sets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param accelerometerMa known accelerometer scale factors and
     *                        cross coupling errors matrix. Must be 3x3.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setAccelerometerMa(final Matrix accelerometerMa)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
                || accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerSx = accelerometerMa.getElementAtIndex(0);
        mAccelerometerMyx = accelerometerMa.getElementAtIndex(1);
        mAccelerometerMzx = accelerometerMa.getElementAtIndex(2);

        mAccelerometerMxy = accelerometerMa.getElementAtIndex(3);
        mAccelerometerSy = accelerometerMa.getElementAtIndex(4);
        mAccelerometerMzy = accelerometerMa.getElementAtIndex(5);

        mAccelerometerMxz = accelerometerMa.getElementAtIndex(6);
        mAccelerometerMyz = accelerometerMa.getElementAtIndex(7);
        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public double getInitialBiasX() {

                bias, initialMg, initialGg, accelerometerBias,
                accelerometerMa, listener);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasX() {
        return mAccelerometerBiasX;
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX known x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final double accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = accelerometerBiasX;
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasY() {
        return mAccelerometerBiasY;
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasY known y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final double accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = accelerometerBiasY;
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasZ() {
        return mAccelerometerBiasZ;
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasZ known z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final double accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasXAsAcceleration() {
        return new Acceleration(mAccelerometerBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final Acceleration accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasYAsAcceleration() {
        return new Acceleration(mAccelerometerBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final Acceleration accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasZAsAcceleration() {
        return new Acceleration(mAccelerometerBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final double accelerometerBiasX,
            final double accelerometerBiasY,
            final double accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = accelerometerBiasX;
        mAccelerometerBiasY = accelerometerBiasY;
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final Acceleration accelerometerBiasX,
            final Acceleration accelerometerBiasY,
            final Acceleration accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public double[] getAccelerometerBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getAccelerometerBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void getAccelerometerBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result[0] = mAccelerometerBiasX;
        result[1] = mAccelerometerBiasY;
        result[2] = mAccelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void setAccelerometerBias(final double[] accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias[0];
        mAccelerometerBiasY = accelerometerBias[1];
        mAccelerometerBiasZ = accelerometerBias[2];
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public Matrix getAccelerometerBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getAccelerometerBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getAccelerometerBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerBiasX);
        result.setElementAtIndex(1, mAccelerometerBiasY);
        result.setElementAtIndex(2, mAccelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias. Must be 3x1.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setAccelerometerBias(final Matrix accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS
                || accelerometerBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias.getElementAtIndex(0);
        mAccelerometerBiasY = accelerometerBias.getElementAtIndex(1);
        mAccelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
    }

    /**
     * Gets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer x scaling factor.
     */
    public double getAccelerometerSx() {
        return mAccelerometerSx;
    }

    /**
     * Sets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSx(final double accelerometerSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
    }

    /**
     * Gets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer y scaling factor.
     */
    public double getAccelerometerSy() {
        return mAccelerometerSy;
    }

    /**
     * Sets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSy known accelerometer y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSy(final double accelerometerSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSy = accelerometerSy;
    }

    /**
     * Gets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer z scaling factor.
     */
    public double getAccelerometerSz() {
        return mAccelerometerSz;
    }

    /**
     * Sets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSz(final double accelerometerSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Gets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-y cross coupling error.
     */
    public double getAccelerometerMxy() {
        return mAccelerometerMxy;
    }

    /**
     * Sets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxy(final double accelerometerMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
    }

    /**
     * Gets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-z cross coupling error.
     */
    public double getAccelerometerMxz() {
        return mAccelerometerMxz;
    }

    /**
     * Sets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxz known accelerometer x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxz(final double accelerometerMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxz = accelerometerMxz;
    }

    /**
     * Gets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-x cross coupling error.
     */
    public double getAccelerometerMyx() {
        return mAccelerometerMyx;
    }

    /**
     * Sets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyx(final double accelerometerMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyx = accelerometerMyx;
    }

    /**
     * Gets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-z cross coupling error.
     */
    public double getAccelerometerMyz() {
        return mAccelerometerMyz;
    }

    /**
     * Sets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyz(final double accelerometerMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyz = accelerometerMyz;
    }

    /**
     * Gets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-x cross coupling error.
     */
    public double getAccelerometerMzx() {
        return mAccelerometerMzx;
    }

    /**
     * Sets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzx(final double accelerometerMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzx = accelerometerMzx;
    }

    /**
     * Gets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-y cross coupling error.
     */
    public double getAccelerometerMzy() {
        return mAccelerometerMzy;
    }

    /**
     * Sets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzy(final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors to be used to fix measured
     * specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @param accelerometerSy known accelerometer y scaling factor.
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
        mAccelerometerSy = accelerometerSy;
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Sets known accelerometer cross coupling errors to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerCrossCouplingErrors(
            final double accelerometerMxy, final double accelerometerMxz,
            final double accelerometerMyx, final double accelerometerMyz,
            final double accelerometerMzx, final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
        mAccelerometerMxz = accelerometerMxz;
        mAccelerometerMyx = accelerometerMyx;
        mAccelerometerMyz = accelerometerMyz;
        mAccelerometerMzx = accelerometerMzx;
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors and cross coupling errors
     * to be used to fix measured specific force and find cross biases
     * introduced by the accelerometer.
     *
     * @param accelerometerSx  known accelerometer x scaling factor.
     * @param accelerometerSy  known accelerometer y scaling factor.
     * @param accelerometerSz  known accelerometer z scaling factor.
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz, final double accelerometerMxy,
            final double accelerometerMxz, final double accelerometerMyx,
            final double accelerometerMyz, final double accelerometerMzx,
            final double accelerometerMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setAccelerometerScalingFactors(accelerometerSx, accelerometerSy,
                accelerometerSz);
        setAccelerometerCrossCouplingErrors(accelerometerMxy,
                accelerometerMxz, accelerometerMyx,
                accelerometerMyz, accelerometerMzx,
                accelerometerMzy);
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @return known accelerometer scale factors and cross coupling
     * errors matrix.
     */
    public Matrix getAccelerometerMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getAccelerometerMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getAccelerometerMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerSx);
        result.setElementAtIndex(1, mAccelerometerMyx);
        result.setElementAtIndex(2, mAccelerometerMzx);

        result.setElementAtIndex(3, mAccelerometerMxy);
        result.setElementAtIndex(4, mAccelerometerSy);
        result.setElementAtIndex(5, mAccelerometerMzy);

        result.setElementAtIndex(6, mAccelerometerMxz);
        result.setElementAtIndex(7, mAccelerometerMyz);
        result.setElementAtIndex(8, mAccelerometerSz);
    }

    /**
     * Sets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param accelerometerMa known accelerometer scale factors and
     *                        cross coupling errors matrix. Must be 3x3.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setAccelerometerMa(final Matrix accelerometerMa)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
                || accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerSx = accelerometerMa.getElementAtIndex(0);
        mAccelerometerMyx = accelerometerMa.getElementAtIndex(1);
        mAccelerometerMzx = accelerometerMa.getElementAtIndex(2);

        mAccelerometerMxy = accelerometerMa.getElementAtIndex(3);
        mAccelerometerSy = accelerometerMa.getElementAtIndex(4);
        mAccelerometerMzy = accelerometerMa.getElementAtIndex(5);

        mAccelerometerMxz = accelerometerMa.getElementAtIndex(6);
        mAccelerometerMyz = accelerometerMa.getElementAtIndex(7);
        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets known x-coordinate of gyroscope bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return known x-coordinate of gyroscope bias.
     */
    public double getBiasX() {

    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasX() {
        return mAccelerometerBiasX;
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX known x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final double accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = accelerometerBiasX;
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasY() {
        return mAccelerometerBiasY;
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasY known y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final double accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = accelerometerBiasY;
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasZ() {
        return mAccelerometerBiasZ;
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasZ known z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final double accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasXAsAcceleration() {
        return new Acceleration(mAccelerometerBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final Acceleration accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasYAsAcceleration() {
        return new Acceleration(mAccelerometerBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final Acceleration accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasZAsAcceleration() {
        return new Acceleration(mAccelerometerBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final double accelerometerBiasX,
            final double accelerometerBiasY,
            final double accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = accelerometerBiasX;
        mAccelerometerBiasY = accelerometerBiasY;
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final Acceleration accelerometerBiasX,
            final Acceleration accelerometerBiasY,
            final Acceleration accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public double[] getAccelerometerBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getAccelerometerBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void getAccelerometerBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result[0] = mAccelerometerBiasX;
        result[1] = mAccelerometerBiasY;
        result[2] = mAccelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void setAccelerometerBias(final double[] accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias[0];
        mAccelerometerBiasY = accelerometerBias[1];
        mAccelerometerBiasZ = accelerometerBias[2];
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public Matrix getAccelerometerBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getAccelerometerBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getAccelerometerBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerBiasX);
        result.setElementAtIndex(1, mAccelerometerBiasY);
        result.setElementAtIndex(2, mAccelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias. Must be 3x1.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setAccelerometerBias(final Matrix accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS
                || accelerometerBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias.getElementAtIndex(0);
        mAccelerometerBiasY = accelerometerBias.getElementAtIndex(1);
        mAccelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
    }

    /**
     * Gets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer x scaling factor.
     */
    public double getAccelerometerSx() {
        return mAccelerometerSx;
    }

    /**
     * Sets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSx(final double accelerometerSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
    }

    /**
     * Gets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer y scaling factor.
     */
    public double getAccelerometerSy() {
        return mAccelerometerSy;
    }

    /**
     * Sets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSy known accelerometer y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSy(final double accelerometerSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSy = accelerometerSy;
    }

    /**
     * Gets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer z scaling factor.
     */
    public double getAccelerometerSz() {
        return mAccelerometerSz;
    }

    /**
     * Sets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSz(final double accelerometerSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Gets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-y cross coupling error.
     */
    public double getAccelerometerMxy() {
        return mAccelerometerMxy;
    }

    /**
     * Sets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxy(final double accelerometerMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
    }

    /**
     * Gets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-z cross coupling error.
     */
    public double getAccelerometerMxz() {
        return mAccelerometerMxz;
    }

    /**
     * Sets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxz known accelerometer x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxz(final double accelerometerMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxz = accelerometerMxz;
    }

    /**
     * Gets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-x cross coupling error.
     */
    public double getAccelerometerMyx() {
        return mAccelerometerMyx;
    }

    /**
     * Sets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyx(final double accelerometerMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyx = accelerometerMyx;
    }

    /**
     * Gets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-z cross coupling error.
     */
    public double getAccelerometerMyz() {
        return mAccelerometerMyz;
    }

    /**
     * Sets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyz(final double accelerometerMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyz = accelerometerMyz;
    }

    /**
     * Gets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-x cross coupling error.
     */
    public double getAccelerometerMzx() {
        return mAccelerometerMzx;
    }

    /**
     * Sets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzx(final double accelerometerMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzx = accelerometerMzx;
    }

    /**
     * Gets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-y cross coupling error.
     */
    public double getAccelerometerMzy() {
        return mAccelerometerMzy;
    }

    /**
     * Sets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzy(final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors to be used to fix measured
     * specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @param accelerometerSy known accelerometer y scaling factor.
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
        mAccelerometerSy = accelerometerSy;
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Sets known accelerometer cross coupling errors to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerCrossCouplingErrors(
            final double accelerometerMxy, final double accelerometerMxz,
            final double accelerometerMyx, final double accelerometerMyz,
            final double accelerometerMzx, final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
        mAccelerometerMxz = accelerometerMxz;
        mAccelerometerMyx = accelerometerMyx;
        mAccelerometerMyz = accelerometerMyz;
        mAccelerometerMzx = accelerometerMzx;
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors and cross coupling errors
     * to be used to fix measured specific force and find cross biases
     * introduced by the accelerometer.
     *
     * @param accelerometerSx  known accelerometer x scaling factor.
     * @param accelerometerSy  known accelerometer y scaling factor.
     * @param accelerometerSz  known accelerometer z scaling factor.
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz, final double accelerometerMxy,
            final double accelerometerMxz, final double accelerometerMyx,
            final double accelerometerMyz, final double accelerometerMzx,
            final double accelerometerMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setAccelerometerScalingFactors(accelerometerSx, accelerometerSy,
                accelerometerSz);
        setAccelerometerCrossCouplingErrors(accelerometerMxy,
                accelerometerMxz, accelerometerMyx,
                accelerometerMyz, accelerometerMzx,
                accelerometerMzy);
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @return known accelerometer scale factors and cross coupling
     * errors matrix.
     */
    public Matrix getAccelerometerMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getAccelerometerMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getAccelerometerMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerSx);
        result.setElementAtIndex(1, mAccelerometerMyx);
        result.setElementAtIndex(2, mAccelerometerMzx);

        result.setElementAtIndex(3, mAccelerometerMxy);
        result.setElementAtIndex(4, mAccelerometerSy);
        result.setElementAtIndex(5, mAccelerometerMzy);

        result.setElementAtIndex(6, mAccelerometerMxz);
        result.setElementAtIndex(7, mAccelerometerMyz);
        result.setElementAtIndex(8, mAccelerometerSz);
    }

    /**
     * Sets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param accelerometerMa known accelerometer scale factors and
     *                        cross coupling errors matrix. Must be 3x3.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setAccelerometerMa(final Matrix accelerometerMa)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
                || accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerSx = accelerometerMa.getElementAtIndex(0);
        mAccelerometerMyx = accelerometerMa.getElementAtIndex(1);
        mAccelerometerMzx = accelerometerMa.getElementAtIndex(2);

        mAccelerometerMxy = accelerometerMa.getElementAtIndex(3);
        mAccelerometerSy = accelerometerMa.getElementAtIndex(4);
        mAccelerometerMzy = accelerometerMa.getElementAtIndex(5);

        mAccelerometerMxz = accelerometerMa.getElementAtIndex(6);
        mAccelerometerMyz = accelerometerMa.getElementAtIndex(7);
        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets initial x-coordinate of gyroscope bias to be used to find
     * a solution.
     * This is expressed in radians per second (rad/s).
     *
     * @return initial x-coordinate of gyroscope bias.
     */
    public double getInitialBiasX() {

    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasX() {
        return mAccelerometerBiasX;
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX known x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final double accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = accelerometerBiasX;
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasY() {
        return mAccelerometerBiasY;
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasY known y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final double accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = accelerometerBiasY;
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public double getAccelerometerBiasZ() {
        return mAccelerometerBiasZ;
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasZ known z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final double accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known x-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasXAsAcceleration() {
        return new Acceleration(mAccelerometerBiasX,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasX(final Acceleration accelerometerBiasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known y-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasYAsAcceleration() {
        return new Acceleration(mAccelerometerBiasY,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasY(final Acceleration accelerometerBiasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known z-coordinate of accelerometer bias.
     */
    public Acceleration getAccelerometerBiasZAsAcceleration() {
        return new Acceleration(mAccelerometerBiasZ,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param result instance where result data will be stored.
     */
    public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mAccelerometerBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z-coordinate of accelerometer bias to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final double accelerometerBiasX,
            final double accelerometerBiasY,
            final double accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = accelerometerBiasX;
        mAccelerometerBiasY = accelerometerBiasY;
        mAccelerometerBiasZ = accelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerBiasX x-coordinate of accelerometer bias.
     * @param accelerometerBiasY y-coordinate of accelerometer bias.
     * @param accelerometerBiasZ z-coordinate of accelerometer bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerBias(
            final Acceleration accelerometerBiasX,
            final Acceleration accelerometerBiasY,
            final Acceleration accelerometerBiasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mAccelerometerBiasX = convertAcceleration(accelerometerBiasX);
        mAccelerometerBiasY = convertAcceleration(accelerometerBiasY);
        mAccelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public double[] getAccelerometerBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getAccelerometerBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void getAccelerometerBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result[0] = mAccelerometerBiasX;
        result[1] = mAccelerometerBiasY;
        result[2] = mAccelerometerBiasZ;
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have
     *                                  length 3.
     */
    public void setAccelerometerBias(final double[] accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias[0];
        mAccelerometerBiasY = accelerometerBias[1];
        mAccelerometerBiasZ = accelerometerBias[2];
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @return known accelerometer bias.
     */
    public Matrix getAccelerometerBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getAccelerometerBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void getAccelerometerBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerBiasX);
        result.setElementAtIndex(1, mAccelerometerBiasY);
        result.setElementAtIndex(2, mAccelerometerBiasZ);
    }

    /**
     * Sets known accelerometer bias to be used to fix measured specific
     * force and find cross biases introduced by the accelerometer.
     * This is expressed in meters per squared second (m/s^2).
     *
     * @param accelerometerBias known accelerometer bias. Must be 3x1.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    public void setAccelerometerBias(final Matrix accelerometerBias)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS
                || accelerometerBias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mAccelerometerBiasX = accelerometerBias.getElementAtIndex(0);
        mAccelerometerBiasY = accelerometerBias.getElementAtIndex(1);
        mAccelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
    }

    /**
     * Gets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer x scaling factor.
     */
    public double getAccelerometerSx() {
        return mAccelerometerSx;
    }

    /**
     * Sets known accelerometer x scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSx(final double accelerometerSx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
    }

    /**
     * Gets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer y scaling factor.
     */
    public double getAccelerometerSy() {
        return mAccelerometerSy;
    }

    /**
     * Sets known accelerometer y scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSy known accelerometer y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSy(final double accelerometerSy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSy = accelerometerSy;
    }

    /**
     * Gets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @return known accelerometer z scaling factor.
     */
    public double getAccelerometerSz() {
        return mAccelerometerSz;
    }

    /**
     * Sets known accelerometer z scaling factor to be used to fix measured
     * specific force and find cross biases introduced by the accelerometer.
     *
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerSz(final double accelerometerSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Gets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-y cross coupling error.
     */
    public double getAccelerometerMxy() {
        return mAccelerometerMxy;
    }

    /**
     * Sets known accelerometer x-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxy(final double accelerometerMxy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
    }

    /**
     * Gets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer x-z cross coupling error.
     */
    public double getAccelerometerMxz() {
        return mAccelerometerMxz;
    }

    /**
     * Sets known accelerometer x-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxz known accelerometer x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMxz(final double accelerometerMxz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxz = accelerometerMxz;
    }

    /**
     * Gets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-x cross coupling error.
     */
    public double getAccelerometerMyx() {
        return mAccelerometerMyx;
    }

    /**
     * Sets known accelerometer y-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyx(final double accelerometerMyx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyx = accelerometerMyx;
    }

    /**
     * Gets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer y-z cross coupling error.
     */
    public double getAccelerometerMyz() {
        return mAccelerometerMyz;
    }

    /**
     * Sets known accelerometer y-z cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMyz(final double accelerometerMyz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMyz = accelerometerMyz;
    }

    /**
     * Gets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-x cross coupling error.
     */
    public double getAccelerometerMzx() {
        return mAccelerometerMzx;
    }

    /**
     * Sets known accelerometer z-x cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzx(final double accelerometerMzx)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzx = accelerometerMzx;
    }

    /**
     * Gets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @return known accelerometer z-y cross coupling error.
     */
    public double getAccelerometerMzy() {
        return mAccelerometerMzy;
    }

    /**
     * Sets known accelerometer z-y cross coupling error to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerMzy(final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors to be used to fix measured
     * specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerSx known accelerometer x scaling factor.
     * @param accelerometerSy known accelerometer y scaling factor.
     * @param accelerometerSz known accelerometer z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerSx = accelerometerSx;
        mAccelerometerSy = accelerometerSy;
        mAccelerometerSz = accelerometerSz;
    }

    /**
     * Sets known accelerometer cross coupling errors to be used to fix
     * measured specific force and find cross biases introduced by the
     * accelerometer.
     *
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerCrossCouplingErrors(
            final double accelerometerMxy, final double accelerometerMxz,
            final double accelerometerMyx, final double accelerometerMyz,
            final double accelerometerMzx, final double accelerometerMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mAccelerometerMxy = accelerometerMxy;
        mAccelerometerMxz = accelerometerMxz;
        mAccelerometerMyx = accelerometerMyx;
        mAccelerometerMyz = accelerometerMyz;
        mAccelerometerMzx = accelerometerMzx;
        mAccelerometerMzy = accelerometerMzy;
    }

    /**
     * Sets known accelerometer scaling factors and cross coupling errors
     * to be used to fix measured specific force and find cross biases
     * introduced by the accelerometer.
     *
     * @param accelerometerSx  known accelerometer x scaling factor.
     * @param accelerometerSy  known accelerometer y scaling factor.
     * @param accelerometerSz  known accelerometer z scaling factor.
     * @param accelerometerMxy known accelerometer x-y cross coupling
     *                         error.
     * @param accelerometerMxz known accelerometer x-z cross coupling
     *                         error.
     * @param accelerometerMyx known accelerometer y-x cross coupling
     *                         error.
     * @param accelerometerMyz known accelerometer y-z cross coupling
     *                         error.
     * @param accelerometerMzx known accelerometer z-x cross coupling
     *                         error.
     * @param accelerometerMzy known accelerometer z-y cross coupling
     *                         error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
            final double accelerometerSx, final double accelerometerSy,
            final double accelerometerSz, final double accelerometerMxy,
            final double accelerometerMxz, final double accelerometerMyx,
            final double accelerometerMyz, final double accelerometerMzx,
            final double accelerometerMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setAccelerometerScalingFactors(accelerometerSx, accelerometerSy,
                accelerometerSz);
        setAccelerometerCrossCouplingErrors(accelerometerMxy,
                accelerometerMxz, accelerometerMyx,
                accelerometerMyz, accelerometerMzx,
                accelerometerMzy);
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @return known accelerometer scale factors and cross coupling
     * errors matrix.
     */
    public Matrix getAccelerometerMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getAccelerometerMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getAccelerometerMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mAccelerometerSx);
        result.setElementAtIndex(1, mAccelerometerMyx);
        result.setElementAtIndex(2, mAccelerometerMzx);

        result.setElementAtIndex(3, mAccelerometerMxy);
        result.setElementAtIndex(4, mAccelerometerSy);
        result.setElementAtIndex(5, mAccelerometerMzy);

        result.setElementAtIndex(6, mAccelerometerMxz);
        result.setElementAtIndex(7, mAccelerometerMyz);
        result.setElementAtIndex(8, mAccelerometerSz);
    }

    /**
     * Sets known accelerometer scale factors and cross coupling
     * errors matrix.
     *
     * @param accelerometerMa known accelerometer scale factors and
     *                        cross coupling errors matrix. Must be 3x3.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setAccelerometerMa(final Matrix accelerometerMa)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
                || accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mAccelerometerSx = accelerometerMa.getElementAtIndex(0);
        mAccelerometerMyx = accelerometerMa.getElementAtIndex(1);
        mAccelerometerMzx = accelerometerMa.getElementAtIndex(2);

        mAccelerometerMxy = accelerometerMa.getElementAtIndex(3);
        mAccelerometerSy = accelerometerMa.getElementAtIndex(4);
        mAccelerometerMzy = accelerometerMa.getElementAtIndex(5);

        mAccelerometerMxz = accelerometerMa.getElementAtIndex(6);
        mAccelerometerMyz = accelerometerMa.getElementAtIndex(7);
        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets x-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return x-coordinate of gyroscope known bias.
     */
    public double getBiasX() {

    }

    /**
     * Gets array containing x,y,z components of estimated gyroscope biases
     * expressed in radians per second (rad/s).
     *
     * @return array containing x,y,z components of estimated gyroscope biases.
     */
    public double[] getEstimatedBiases() {
        return mEstimatedBiases;
    }

    /**
     * Gets array containing x,y,z components of estimated gyroscope biases
     * expressed in radians per second (rad/s).
     *
     * @param result instance where estimated gyroscope biases will be stored.
     * @return true if result instance was updated, false otherwise (when estimation
     * is not yet available).
     */
    public boolean getEstimatedBiases(double[] result) {
        if (mEstimatedBiases != null) {
            System.arraycopy(mEstimatedBiases, 0, result,
                    0, mEstimatedBiases.length);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets column matrix containing x,y,z components of estimated gyroscope biases
     * expressed in radians per second (rad/s).
     *
     * @return column matrix containing x,y,z components of estimated gyroscope
     * biases.
     */
    public Matrix getEstimatedBiasesAsMatrix() {
        return mEstimatedBiases != null ? Matrix.newFromArray(mEstimatedBiases) : null;
    }

    /**
     * Gets column matrix containing x,y,z components of estimated gyroscope biases
     * expressed in radians per second (rad/s).
     *
     * @param result instance where result data will be stored.
     * @return true if result was updated, false otherwise.
     * @throws WrongSizeException if provided result instance has invalid size.
     */
    public boolean getEstimatedBiasesAsMatrix(Matrix result)
            throws WrongSizeException {
        if (mEstimatedBiases != null) {
            result.fromArray(mEstimatedBiases);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets x coordinate of estimated gyroscope bias expressed in radians per
     * second (rad/s).
     *
     * @return x coordinate of estimated gyroscope bias or null if not available.
     */
    public Double getEstimatedBiasX() {
        return mEstimatedBiases != null ? mEstimatedBiases[0] : null;
    }

    /**
     * Gets y coordinate of estimated gyroscope bias expressed in radians per
     * second (rad/s).
     *
     * @return y coordinate of estimated gyroscope bias or null if not available.
     */
    public Double getEstimatedBiasY() {
        return mEstimatedBiases != null ? mEstimatedBiases[1] : null;
    }

    /**
     * Gets z coordinate of estimated gyroscope bias expressed in radians per
     * second (rad/s).
     *
     * @return z coordinate of estimated gyroscope bias or null if not available.
     */
    public Double getEstimatedBiasZ() {
        return mEstimatedBiases != null ? mEstimatedBiases[2] : null;
    }

    /**
     * Gets x coordinate of estimated gyroscope bias.
     *
     * @return x coordinate of estimated gyroscope bias or null if not available.
     */
    public AngularSpeed getEstimatedBiasAngularSpeedX() {
        return mEstimatedBiases != null ?
                new AngularSpeed(mEstimatedBiases[0],
                        AngularSpeedUnit.RADIANS_PER_SECOND) : null;
    }

    /**
     * Gets x coordinate of estimated gyroscope bias.
     *
     * @param result instance where result will be stored.
     * @return true if result was updated, false if estimation is not available.
     */
    public boolean getEstimatedBiasAngularSpeedX(AngularSpeed result) {
        if (mEstimatedBiases != null) {
            result.setValue(mEstimatedBiases[0]);
            result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets y coordinate of estimated gyroscope bias.
     *
     * @return y coordinate of estimated gyroscope bias or null if not available.
     */
    public AngularSpeed getEstimatedBiasAngularSpeedY() {
        return mEstimatedBiases != null ?
                new AngularSpeed(mEstimatedBiases[1],
                        AngularSpeedUnit.RADIANS_PER_SECOND) : null;
    }

    /**
     * Gets y coordinate of estimated gyroscope bias.
     *
     * @param result instance where result will be stored.
     * @return true if result was updated, false if estimation is not available.
     */
    public boolean getEstimatedBiasAngularSpeedY(AngularSpeed result) {
        if (mEstimatedBiases != null) {
            result.setValue(mEstimatedBiases[1]);
            result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets z coordinate of estimated gyroscope bias.
     *
     * @return z coordinate of estimated gyroscope bias or null if not available.
     */
    public AngularSpeed getEstimatedBiasAngularSpeedZ() {
        return mEstimatedBiases != null ?
                new AngularSpeed(mEstimatedBiases[2],
                        AngularSpeedUnit.RADIANS_PER_SECOND) : null;
    }

    /**
     * Gets z coordinate of estimated gyroscope bias.
     *
     * @param result instance where result will be stored.
     * @return true if result was updated, false if estimation is not available.
     */
    public boolean getEstimatedBiasAngularSpeedZ(AngularSpeed result) {
        if (mEstimatedBiases != null) {
            result.setValue(mEstimatedBiases[2]);
            result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {

    }

    /**
     * Gets array containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @return array containing x,y,z components of estimated accelerometer biases.
     */
    public double[] getEstimatedBiases() {
        return mEstimatedBiases;
    }

    /**
     * Gets array containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @param result instance where estimated accelerometer biases will be stored.
     * @return true if result instance was updated, false otherwise (when estimation
     * is not yet available).
     */
    public boolean getEstimatedBiases(final double[] result) {
        if (mEstimatedBiases != null) {
            System.arraycopy(mEstimatedBiases, 0, result,
                    0, mEstimatedBiases.length);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets column matrix containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @return column matrix containing x,y,z components of estimated accelerometer
     * biases.
     */
    public Matrix getEstimatedBiasesAsMatrix() {
        return mEstimatedBiases != null ? Matrix.newFromArray(mEstimatedBiases) : null;
    }

    /**
     * Gets column matrix containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be stored.
     * @return true if result was updated, false otherwise.
     * @throws WrongSizeException if provided result instance has invalid size.
     */
    public boolean getEstimatedBiasesAsMatrix(final Matrix result)
            throws WrongSizeException {
        if (mEstimatedBiases != null) {
            result.fromArray(mEstimatedBiases);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets x coordinate of estimated accelerometer bias expressed in meters per
     * squared second (m/s^2).
     *
     * @return x coordinate of estimated accelerometer bias or null if not available.
     */
    public Double getEstimatedBiasFx() {
        return mEstimatedBiases != null ? mEstimatedBiases[0] : null;
    }

    /**
     * Gets y coordinate of estimated accelerometer bias expressed in meters per
     * squared second (m/s^2).
     *
     * @return y coordinate of estimated accelerometer bias or null if not available.
     */
    public Double getEstimatedBiasFy() {
        return mEstimatedBiases != null ? mEstimatedBiases[1] : null;
    }

    /**
     * Gets z coordinate of estimated accelerometer bias expressed in meters per
     * squared second (m/s^2).
     *
     * @return z coordinate of estimated accelerometer bias or null if not available.
     */
    public Double getEstimatedBiasFz() {
        return mEstimatedBiases != null ? mEstimatedBiases[2] : null;
    }

    /**
     * Gets x coordinate of estimated accelerometer bias.
     *
     * @return x coordinate of estimated accelerometer bias or null if not available.
     */
    public Acceleration getEstimatedBiasFxAsAcceleration() {
        return mEstimatedBiases != null ?
                new Acceleration(mEstimatedBiases[0],
                        AccelerationUnit.METERS_PER_SQUARED_SECOND) : null;
    }

    /**
     * Gets x coordinate of estimated accelerometer bias.
     *
     * @param result instance where result will be stored.
     * @return true if result was updated, false if estimation is not available.
     */
    public boolean getEstimatedBiasFxAsAcceleration(final Acceleration result) {
        if (mEstimatedBiases != null) {
            result.setValue(mEstimatedBiases[0]);
            result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets y coordinate of estimated accelerometer bias.
     *
     * @return y coordinate of estimated accelerometer bias or null if not available.
     */
    public Acceleration getEstimatedBiasFyAsAcceleration() {
        return mEstimatedBiases != null ?
                new Acceleration(mEstimatedBiases[1],
                        AccelerationUnit.METERS_PER_SQUARED_SECOND) : null;
    }

    /**
     * Gets y coordinate of estimated accelerometer bias.
     *
     * @param result instance where result will be stored.
     * @return true if result was updated, false if estimation is not available.
     */
    public boolean getEstimatedBiasFyAsAcceleration(final Acceleration result) {
        if (mEstimatedBiases != null) {
            result.setValue(mEstimatedBiases[1]);
            result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets z coordinate of estimated accelerometer bias.
     *
     * @return z coordinate of estimated accelerometer bias or null if not available.
     */
    public Acceleration getEstimatedBiasFzAsAcceleration() {
        return mEstimatedBiases != null ?
                new Acceleration(mEstimatedBiases[2],
                        AccelerationUnit.METERS_PER_SQUARED_SECOND) : null;
    }

    /**
     * Gets z coordinate of estimated accelerometer bias.
     *
     * @param result instance where result will be stored.
     * @return true if result was updated, false if estimation is not available.
     */
    public boolean getEstimatedBiasFzAsAcceleration(final Acceleration result) {
        if (mEstimatedBiases != null) {
            result.setValue(mEstimatedBiases[2]);
            result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMa() {
        return mEstimatedMa;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated covariance matrix for estimated position.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {

    }

    /**
     * Gets initial x scaling factor.
     *
     * @return initial x scaling factor.
     */
    @Override
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor.
     *
     * @param initialSx initial x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialSx(final double initialSx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor.
     *
     * @return initial y scaling factor.
     */
    @Override
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor.
     *
     * @param initialSy initial y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialSy(final double initialSy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor.
     *
     * @return initial z scaling factor.
     */
    @Override
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor.
     *
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialSz(final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error.
     *
     * @return initial x-y cross coupling error.
     */
    @Override
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMxy(final double initialMxy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error.
     *
     * @return initial x-z cross coupling error.
     */
    @Override
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error.
     *
     * @param initialMxz initial x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMxz(final double initialMxz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error.
     *
     * @return initial y-x cross coupling error.
     */
    @Override
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error.
     *
     * @param initialMyx initial y-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMyx(final double initialMyx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error.
     *
     * @return initial y-z cross coupling error.
     */
    @Override
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error.
     *
     * @param initialMyz initial y-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMyz(final double initialMyz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error.
     *
     * @return initial z-x cross coupling error.
     */
    @Override
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error.
     *
     * @param initialMzx initial z-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMzx(final double initialMzx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error.
     *
     * @return initial z-y cross coupling error.
     */
    @Override
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error.
     *
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMzy(final double initialMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors.
     *
     * @param initialSx initial x scaling factor.
     * @param initialSy initial y scaling factor.
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy, final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors.
     *
     * @param initialSx  initial x scaling factor.
     * @param initialSy  initial y scaling factor.
     * @param initialSz  initial z scaling factor.
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containint coordinates of known bias.
     */
    @Override
    public double[] getBias() {

    }

    /**
     * Gets initial x scaling factor.
     *
     * @return initial x scaling factor.
     */
    @Override
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor.
     *
     * @param initialSx initial x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialSx(final double initialSx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor.
     *
     * @return initial y scaling factor.
     */
    @Override
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor.
     *
     * @param initialSy initial y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialSy(final double initialSy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor.
     *
     * @return initial z scaling factor.
     */
    @Override
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor.
     *
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialSz(final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error.
     *
     * @return initial x-y cross coupling error.
     */
    @Override
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMxy(final double initialMxy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error.
     *
     * @return initial x-z cross coupling error.
     */
    @Override
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error.
     *
     * @param initialMxz initial x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMxz(final double initialMxz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error.
     *
     * @return initial y-x cross coupling error.
     */
    @Override
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error.
     *
     * @param initialMyx initial y-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMyx(final double initialMyx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error.
     *
     * @return initial y-z cross coupling error.
     */
    @Override
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error.
     *
     * @param initialMyz initial y-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMyz(final double initialMyz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error.
     *
     * @return initial z-x cross coupling error.
     */
    @Override
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error.
     *
     * @param initialMzx initial z-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMzx(final double initialMzx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error.
     *
     * @return initial z-y cross coupling error.
     */
    @Override
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error.
     *
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialMzy(final double initialMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors.
     *
     * @param initialSx initial x scaling factor.
     * @param initialSy initial y scaling factor.
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy, final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors.
     *
     * @param initialSx  initial x scaling factor.
     * @param initialSy  initial y scaling factor.
     * @param initialSz  initial z scaling factor.
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containint coordinates of known bias.
     */
    @Override
    public double[] getBias() {

    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    public Matrix getEstimatedMm() {
        return mEstimatedMm;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated covariance matrix for estimated position.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {
        return mEstimatedChiSq;
    }

    /**
     * Sets input data into Levenberg-Marquardt fitter.
     *
     * @throws WrongSizeException never happens.
     * @throws IOException        if world magnetic model cannot be loaded.
     */
    private void setInputData() throws WrongSizeException, IOException {

        final WMMEarthMagneticFluxDensityEstimator wmmEstimator;
        if (mMagneticModel != null) {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator(mMagneticModel);
        } else {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator();
        }

        final NEDPosition position = getNedPosition();
        final NEDMagneticFluxDensity earthB = wmmEstimator.estimate(
                position, mYear);
        final double b = earthB.getNorm();
        final double b2 = b * b;

        final int numMeasurements = mMeasurements.size();
        final Matrix x = new Matrix(numMeasurements,
                BodyMagneticFluxDensity.COMPONENTS);
        final double[] y = new double[numMeasurements];
        final double[] specificForceStandardDeviations = new double[numMeasurements];
        int i = 0;
        for (final StandardDeviationBodyMagneticFluxDensity measurement : mMeasurements) {
            final BodyMagneticFluxDensity measuredMagneticFluxDensity =
                    measurement.getMagneticFluxDensity();

            final double bmeasX = measuredMagneticFluxDensity.getBx();
            final double bmeasY = measuredMagneticFluxDensity.getBy();
            final double bmeasZ = measuredMagneticFluxDensity.getBz();

            x.setElementAt(i, 0, bmeasX);
            x.setElementAt(i, 1, bmeasY);
            x.setElementAt(i, 2, bmeasZ);

            y[i] = b2;

            specificForceStandardDeviations[i] =
                    measurement.getMagneticFluxDensityStandardDeviation();

            i++;
        }

        mFitter.setInputData(x, y, specificForceStandardDeviations);
    }

    /**
     * Internal method to perform general calibration.
     *
     * @throws FittingException                         if Levenberg-Marquardt fails for numerical reasons.
     * @throws AlgebraException                         if there are numerical instabilities that prevent
     *                                                  matrix inversion.
     * @throws com.irurueta.numerical.NotReadyException never happens.
     * @throws IOException                              if world magnetic model cannot be loaded.
     */
    private void calibrateGeneral() throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException, IOException {
        // The magnetometer model is:
        // bmeas = bm + (I + Mm) * btrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // bmeas = bm + (I + Mm) * btrue

        // For convergence purposes of the Levenberg-Marquardt algorithm, the
        // magnetometer model can be better expressed as:
        // bmeas = T*K*(btrue + b)
        // bmeas = M*(btrue + b)
        // bmeas = M*btrue + M*b

        // where:
        // M = I + Mm
        // bm = M*b = (I + Mm)*b --> b = M^-1*bm

        // We know that the norm of the true body magnetic flux density
        // is equal to the amount of Earth magnetic flux density at provided
        // position and timestamp
        // ||btrue|| = ||bEarth|| --> from 30 µT to 60 µT

        // Hence:
        // bmeas - M*b = M*btrue

        // M^-1 * (bmeas - M*b) = btrue

        // ||bEarth||^2 = ||btrue||^2 = (M^-1 * (bmeas - M*b))^T * (M^-1 * (bmeas - M*b))
        // ||bEarth||^2 = (bmeas - M*b)^T*(M^-1)^T * M^-1 * (bmeas - M*b)
        // ||bEarth||^2 = (bmeas - M * b)^T * ||M^-1||^2 * (bmeas - M * b)
        // ||bEarth||^2 = ||bmeas - M * b||^2 * ||M^-1||^2

        // Where:

        // b = [bx]
        //     [by]
        //     [bz]

        // M = [m11 	m12 	m13]
        //     [m21 	m22 	m23]
        //     [m31 	m32 	m33]

        final GradientEstimator gradientEstimator = new GradientEstimator(
                new MultiDimensionFunctionEvaluatorListener() {
                    @Override
                    public double evaluate(double[] point) throws EvaluationException {
                        return evaluateGeneral(point);
                    }
                });

        final Matrix initialM = Matrix.identity(BodyMagneticFluxDensity.COMPONENTS,
                BodyMagneticFluxDensity.COMPONENTS);
        initialM.add(getInitialMm());

    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    @Override
    public Matrix getEstimatedMm() {
        return mEstimatedMm;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 1) : null;
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed
     * for the accelerometer, gyroscope and magnetometer.
     *
     * @throws AlgebraException if there are numerical errors.
     * @throws IOException      if world magnetic model cannot be loaded.
     */
    private void calibrateCommonAxis() throws AlgebraException, IOException {
        // The magnetometer model is:
        // mBmeas = bm + (I + Mm) * mBtrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // mBmeas = bm + (I + Mm) * mBtrue

        // Hence:
        //  [mBmeasx] = [bx] + ( [1  0   0] + [sx    mxy mxz])   [mBtruex]
        //  [mBmeasy] = [by]     [0  1   0]   [myx   sy  myz]    [mBtruey]
        //  [mBmeasz] = [bz]     [0  0   1]   [mzx   mzy sz ]    [mBtruez]

        // where myx = mzx = mzy = 0

        // Hence:
        //  [mBmeasx] = [bx] + ( [1  0   0] + [sx    mxy mxz])   [mBtruex]
        //  [mBmeasy] = [by]     [0  1   0]   [0     sy  myz]    [mBtruey]
        //  [mBmeasz] = [bz]     [0  0   1]   [0     0   sz ]    [mBtruez]

        //  [mBmeasx] = [bx] +   [1+sx   mxy     mxz ][mBtruex]
        //  [mBmeasy]   [by]     [0      1+sy    myz ][mBtruey]
        //  [mBmeasz]   [bz]     [0      0       1+sz][mBtruez]

        //  mBmeasx = bx + (1+sx) * mBtruex + mxy * mBtruey + mxz * mBtruez
        //  mBmeasy = by + (1+sy) * mBtruey + myz * mBtruez
        //  mBmeasz = bz + (1+sz) * mBtruez

        // Where the unknowns are: bx, by, bz, sx, sy, sz, mxy mxz, myz
        // Reordering:
        //  mBmeasx = bx + mBtruex + sx * mBtruex + mxy * mBtruey + mxz * mBtruez
        //  mBmeasy = by + mBtruey + sy * mBtruey + myz * mBtruez
        //  mBmeasz = bz + mBtruez + sz * mBtruez

        //  mBmeasx - mBtruex = bx + sx * mBtruex + mxy * mBtruey + mxz * mBtruez
        //  mBmeasy - mBtruey = by + sy * mBtruey + myz * mBtruez
        //  mBmeasz - mBtruez = bz + sz * mBtruez

        // [1   0   0   mBtruex  0        0        mBtruey  mBtruez  0      ][bx ] = [mBmeasx - mBtruex]
        // [0   1   0   0        mBtruey  0        0        0        mBtruez][by ]   [mBmeasy - mBtruey]
        // [0   0   1   0        0        mBtruez  0        0        0      ][bz ]   [mBmeasz - mBtruez]
        //                                                                   [sx ]
        //                                                                   [sy ]
        //                                                                   [sz ]
        //                                                                   [mxy]
        //                                                                   [mxz]
        //                                                                   [myz]

        final WMMEarthMagneticFluxDensityEstimator wmmEstimator;
        if (mMagneticModel != null) {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator(mMagneticModel);
        } else {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator();
        }

        final BodyMagneticFluxDensity expectedMagneticFluxDensity = new BodyMagneticFluxDensity();
        final NEDFrame nedFrame = new NEDFrame();
        final NEDMagneticFluxDensity earthB = new NEDMagneticFluxDensity();
        final CoordinateTransformation cbn = new CoordinateTransformation(
                FrameType.BODY_FRAME, FrameType.LOCAL_NAVIGATION_FRAME);
        final CoordinateTransformation cnb = new CoordinateTransformation(
                FrameType.LOCAL_NAVIGATION_FRAME, FrameType.BODY_FRAME);

        final int rows = EQUATIONS_PER_MEASUREMENT * mMeasurements.size();
        final Matrix a = new Matrix(rows, COMMON_Z_AXIS_UNKNOWNS);
        final Matrix b = new Matrix(rows, 1);
        int i = 0;
        for (final FrameBodyMagneticFluxDensity measurement : mMeasurements) {
            final BodyMagneticFluxDensity measuredMagneticFluxDensity =
                    measurement.getMagneticFluxDensity();

            // estimate Earth magnetic flux density at frame position and
            // timestamp using WMM
            final ECEFFrame ecefFrame = measurement.getFrame();
            ECEFtoNEDFrameConverter.convertECEFtoNED(ecefFrame, nedFrame);

            final double year = measurement.getYear();

            final double latitude = nedFrame.getLatitude();
            final double longitude = nedFrame.getLongitude();
            final double height = nedFrame.getHeight();

            nedFrame.getCoordinateTransformation(cbn);
            cbn.inverse(cnb);

            wmmEstimator.estimate(latitude, longitude, height, year, earthB);

            // estimate expected body mangetic flux density taking into
            // account body attitude (inverse of frame orientation) and
            // estimated Earth magnetic flux density
            BodyMagneticFluxDensityEstimator.estimate(earthB, cnb,
                    expectedMagneticFluxDensity);

            final double bMeasX = measuredMagneticFluxDensity.getBx();
            final double bMeasY = measuredMagneticFluxDensity.getBy();
            final double bMeasZ = measuredMagneticFluxDensity.getBz();

            final double bTrueX = expectedMagneticFluxDensity.getBx();
            final double bTrueY = expectedMagneticFluxDensity.getBy();
            final double bTrueZ = expectedMagneticFluxDensity.getBz();

            a.setElementAt(i, 0, 1.0);

        if (mEstimatedMm == null) {
            mEstimatedMm = new Matrix(BodyMagneticFluxDensity.COMPONENTS,
                    BodyMagneticFluxDensity.COMPONENTS);
        } else {
            mEstimatedMm.initialize(0.0);
        }

        mEstimatedMm.setElementAt(0, 0, sx);
        mEstimatedMm.setElementAt(1, 0, myx);
        mEstimatedMm.setElementAt(2, 0, mzx);

        mEstimatedMm.setElementAt(0, 1, mxy);
        mEstimatedMm.setElementAt(1, 1, sy);
        mEstimatedMm.setElementAt(2, 1, mzy);

        mEstimatedMm.setElementAt(0, 2, mxz);
        mEstimatedMm.setElementAt(1, 2, myz);
        mEstimatedMm.setElementAt(2, 2, sz);

        mEstimatedCovariance = mFitter.getCovar();
        mEstimatedChiSq = mFitter.getChisq();
    }

    /**
     * Sets input data into Levenberg-Marquardt fitter.
     *
     * @throws WrongSizeException never happens.
     * @throws IOException        if world magnetic model cannot be loaded.
     */
    private void setInputData() throws WrongSizeException, IOException {
        // set input data using:
        //  mBmeasx = bx + mBtruex + sx * mBtruex + mxy * mBtruey + mxz * mBtruez
        //  mBmeasy = by + myx * mBtruex + mBtruey + sy * mBtruey + myz * mBtruez
        //  mBmeasz = bz + mzx * mBtruex + mzy * mBtruey + mBtruez + sz * mBtruez

        final WMMEarthMagneticFluxDensityEstimator wmmEstimator;
        if (mMagneticModel != null) {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator(mMagneticModel);
        } else {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator();
        }

        final BodyMagneticFluxDensity expectedMagneticFluxDensity = new BodyMagneticFluxDensity();
        final NEDFrame nedFrame = new NEDFrame();
        final NEDMagneticFluxDensity earthB = new NEDMagneticFluxDensity();
        final CoordinateTransformation cbn = new CoordinateTransformation(
                FrameType.BODY_FRAME, FrameType.LOCAL_NAVIGATION_FRAME);
        final CoordinateTransformation cnb = new CoordinateTransformation(
                FrameType.LOCAL_NAVIGATION_FRAME, FrameType.BODY_FRAME);

        final int numMeasurements = mMeasurements.size();
        final Matrix x = new Matrix(numMeasurements,
                BodyMagneticFluxDensity.COMPONENTS);
        final Matrix y = new Matrix(numMeasurements,
                BodyMagneticFluxDensity.COMPONENTS);
        final double[] specificForceStandardDeviations = new double[
                numMeasurements];
        int i = 0;
        for (final StandardDeviationFrameBodyMagneticFluxDensity measurement : mMeasurements) {
            final BodyMagneticFluxDensity measuredMagneticFluxDensity =
                    measurement.getMagneticFluxDensity();

            // estimate Earth magnetic flux density at frame position and
            // timestamp using WMM
            final ECEFFrame ecefFrame = measurement.getFrame();
            ECEFtoNEDFrameConverter.convertECEFtoNED(ecefFrame, nedFrame);

            final double year = measurement.getYear();

            final double latitude = nedFrame.getLatitude();
            final double longitude = nedFrame.getLongitude();
            final double height = nedFrame.getHeight();

            nedFrame.getCoordinateTransformation(cbn);
            cbn.inverse(cnb);

            wmmEstimator.estimate(latitude, longitude, height, year, earthB);

            // estimate expected body mangetic flux density taking into
            // account body attitude (inverse of frame orientation) and
            // estimated Earth magnetic flux density
            BodyMagneticFluxDensityEstimator.estimate(earthB, cnb,
                    expectedMagneticFluxDensity);

            final double bMeasX = measuredMagneticFluxDensity.getBx();
            final double bMeasY = measuredMagneticFluxDensity.getBy();
            final double bMeasZ = measuredMagneticFluxDensity.getBz();

            final double bTrueX = expectedMagneticFluxDensity.getBx();
            final double bTrueY = expectedMagneticFluxDensity.getBy();
            final double bTrueZ = expectedMagneticFluxDensity.getBz();

            x.setElementAt(i, 0, bTrueX);
            x.setElementAt(i, 1, bTrueY);
            x.setElementAt(i, 2, bTrueZ);

            y.setElementAt(i, 0, bMeasX);
            y.setElementAt(i, 1, bMeasY);
            y.setElementAt(i, 2, bMeasZ);

            specificForceStandardDeviations[i] =
                    measurement.getMagneticFluxDensityStandardDeviation();
            i++;
        }

        mFitter.setInputData(x, y, specificForceStandardDeviations);
    }
}

        mInitialBiasZ = initialBias.getElementAtIndex(2);
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @return initial gyroscope scale factors and cross coupling errors
     * matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial gyroscope scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets collection of sequences of timestamped body kinematics
     * measurements taken at a given position where the device moves freely
     * with different orientations.
     *
     * @return collection of sequences of timestamped body kinematics
     * measurements.
     */
    public List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences() {
        return mSequences;
    }

    /**
     * Sets collection of sequences of timestamped body kinematics
     * measurements taken at a given position where the device moves freely
     * with different orientations.
     *
     * @param sequences collection of sequences of timestamped body
     *                  kinematics measurements.
     * @throws LockedException if calibrator is currently running.
     */
    public void setSequences(
            final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mSequences = sequences;
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer and gyroscope,
     * false otherwise.
     */
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
     *                       and gyroscope, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Indicates whether G-dependent cross biases are being estimated
     * or not.
     * When enabled, this adds 9 variables from Gg matrix.
     *
     * @return true if G-dependent cross biases will be estimated,
     * false otherwise.
     */
    public boolean isGDependentCrossBiasesEstimated() {
        return mEstimateGDependentCrossBiases;
    }

    /**
     * Specifies whether G-dependent cross biases are being estimated
     * or not.
     * When enabled, this adds 9 variables from Gg matrix.
     *
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setGDependentCrossBiasesEstimated(
            final boolean estimateGDependentCrossBiases)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mEstimateGDependentCrossBiases = estimateGDependentCrossBiases;
    }

    /**
     * Gets listener to handle events raised by this estimator.
     *
     * @return listener to handle events raised by this estimator.
     */
    public EasyGyroscopeCalibratorListener getListener() {

        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMa initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMa(final Matrix initialMa) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMa.getRows() != BodyKinematics.COMPONENTS ||
                initialMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMa.getElementAtIndex(0);
        mInitialMyx = initialMa.getElementAtIndex(1);
        mInitialMzx = initialMa.getElementAtIndex(2);

        mInitialMxy = initialMa.getElementAtIndex(3);
        mInitialSy = initialMa.getElementAtIndex(4);
        mInitialMzy = initialMa.getElementAtIndex(5);

        mInitialMxz = initialMa.getElementAtIndex(6);
        mInitialMyz = initialMa.getElementAtIndex(7);
        mInitialSz = initialMa.getElementAtIndex(8);
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @return position where body kinematics measures have been taken.
     */
    public ECEFPosition getEcefPosition() {
        return mPosition;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final ECEFPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = position;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @return position where body kinematics measures have been taken or null if
     * not available.
     */
    public NEDPosition getNedPosition() {
        final NEDPosition result = new NEDPosition();
        return getNedPosition(result) ? result : null;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param result instance where result will be stored.
     * @return true if NED position could be computed, false otherwise.
     */
    public boolean getNedPosition(final NEDPosition result) {

        if (mPosition != null) {
            final NEDVelocity velocity = new NEDVelocity();
            ECEFtoNEDPositionVelocityConverter.convertECEFtoNED(
                    mPosition.getX(), mPosition.getY(), mPosition.getZ(),
                    0.0, 0.0, 0.0, result, velocity);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Sets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final NEDPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = convertPosition(position);
    }

    /**
     * Gets a collection of body kinematics measurements taken at
     * a given position with different unknown orientations and containing
     * the standard deviations of accelerometer and gyroscope measurements.
     *
     * @return collection of body kinematics measurements at a known position
     * with unknown orientations.
     */
    public Collection<StandardDeviationBodyKinematics> getMeasurements() {
        return mMeasurements;
    }

    /**
     * Sets a collection of body kinematics measurements taken at
     * a given position with different unknown orientations and containing
     * the standard deviations of accelerometer and gyroscope measurements.
     *
     * @param measurements collection of body kinematics measurements at a
     *                     known position witn unknown orientations.
     * @throws LockedException if calibrator is currently running.
     */
    public void setMeasurements(final Collection<StandardDeviationBodyKinematics> measurements)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMeasurements = measurements;
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer and gyroscope,
     * false otherwise.
     */
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
     *                       and gyroscope, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Gets listener to handle events raised by this estimator.
     *
     * @return listener to handle events raised by this estimator.
     */
    public KnownBiasAndPositionAccelerometerCalibrationListener getListener() {

        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMa initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMa(final Matrix initialMa) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMa.getRows() != BodyKinematics.COMPONENTS ||
                initialMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMa.getElementAtIndex(0);
        mInitialMyx = initialMa.getElementAtIndex(1);
        mInitialMzx = initialMa.getElementAtIndex(2);

        mInitialMxy = initialMa.getElementAtIndex(3);
        mInitialSy = initialMa.getElementAtIndex(4);
        mInitialMzy = initialMa.getElementAtIndex(5);

        mInitialMxz = initialMa.getElementAtIndex(6);
        mInitialMyz = initialMa.getElementAtIndex(7);
        mInitialSz = initialMa.getElementAtIndex(8);
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @return position where body kinematics measures have been taken.
     */
    public ECEFPosition getEcefPosition() {
        return mPosition;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final ECEFPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = position;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @return position where body kinematics measures have been taken or null if
     * not available.
     */
    public NEDPosition getNedPosition() {
        final NEDPosition result = new NEDPosition();
        return getNedPosition(result) ? result : null;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param result instance where result will be stored.
     * @return true if NED position could be computed, false otherwise.
     */
    public boolean getNedPosition(final NEDPosition result) {

        if (mPosition != null) {
            final NEDVelocity velocity = new NEDVelocity();
            ECEFtoNEDPositionVelocityConverter.convertECEFtoNED(
                    mPosition.getX(), mPosition.getY(), mPosition.getZ(),
                    0.0, 0.0, 0.0, result, velocity);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Sets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final NEDPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = convertPosition(position);
    }

    /**
     * Gets a list of body kinematics measurements taken at a
     * given position with different unknown orientations and containing the
     * standard deviations of accelerometer and gyroscope measurements.
     *
     * @return list of body kinematics measurements.
     */
    public List<StandardDeviationBodyKinematics> getMeasurements() {
        return mMeasurements;
    }

    /**
     * Sets a list of body kinematics measurements taken at a
     * given position with different unknown orientations and containing the
     * standard deviations of accelerometer and gyroscope measurements.
     *
     * @param measurements list of body kinematics measurements.
     * @throws LockedException if calibrator is currently running.
     */
    public void setMeasurements(
            final List<StandardDeviationBodyKinematics> measurements)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMeasurements = measurements;
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer and gyroscope,
     * false otherwise.
     */
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
     *                       and gyroscope, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Gets listener to handle events raised by this estimator.
     *
     * @return listener to handle events raised by this estimator.
     */
    public RobustKnownBiasAndPositionAccelerometerCalibratorListener getListener() {

    public INSLooselyCoupledKalmanInitializerConfig(final INSLooselyCoupledKalmanInitializerConfig input) {
        copyFrom(input);
    }

    /**
     * Gets initial attitude uncertainty per axis expressed in radians (rad).
     *
     * @return initial attitude uncertainty per axis expressed in radians (rad).
     */
    public double getInitialAttitudeUncertainty() {
        return mInitialAttitudeUncertainty;
    }

    /**
     * Sets initial attitude uncertainty per axis expressed in radians (rad).
     *
     * @param initialAttitudeUncertainty initial attitude uncertainty per axis expressed
     *                                   in radians (rad).
     */
    public void setInitialAttitudeUncertainty(final double initialAttitudeUncertainty) {
        mInitialAttitudeUncertainty = initialAttitudeUncertainty;
    }

    /**
     * Gets initial attitude uncertainty per axis.
     *
     * @param result instance where initial attitude uncertainty per axis will be stored.
     */
    public void getInitialAttitudeUncertaintyAngle(final Angle result) {
        result.setValue(mInitialAttitudeUncertainty);
        result.setUnit(AngleUnit.RADIANS);
    }

    /**
     * Gets initial attitude uncertainty per axis.
     *
     * @return initial attitude uncertainty per axis.
     */
    public Angle getInitialAttitudeUncertaintyAngle() {
        return new Angle(mInitialAttitudeUncertainty, AngleUnit.RADIANS);
    }

    /**
     * Sets initial attitude uncertainty per axis.
     *
     * @param initialAttitudeUncertainty initial attitude uncertainty per axis.
     */
    public void setInitialAttitudeUncertainty(final Angle initialAttitudeUncertainty) {
        mInitialAttitudeUncertainty = AngleConverter.convert(
                initialAttitudeUncertainty.getValue().doubleValue(),
                initialAttitudeUncertainty.getUnit(), AngleUnit.RADIANS);
    }

    /**
     * Gets initial velocity uncertainty per axis expressed in meters per second (m/s).
     *
     * @return initial velocity uncertainty per axis expressed in meters per second (m/s).
     */
    public double getInitialVelocityUncertainty() {
        return mInitialVelocityUncertainty;
    }

    /**
     * Sets initial velocity uncertainty per axis expressed in meters per second (m/s).
     *
     * @param initialVelocityUncertainty initial velocity uncertainty per axis expressed
     *                                   in meters per second (m/s).
     */
    public void setInitialVelocityUncertainty(final double initialVelocityUncertainty) {
        mInitialVelocityUncertainty = initialVelocityUncertainty;
    }

    /**
     * Gets initial velocity uncertainty per axis.
     *
     * @param result instance where initial attitude uncertainty per axis will be stored.
     */
    public void getInitialVelocityUncertaintySpeed(final Speed result) {
        result.setValue(mInitialVelocityUncertainty);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets initial velocity uncertainty per axis.
     *
     * @return initial velocity uncertainty per axis.
     */
    public Speed getInitialVelocityUncertaintySpeed() {
        return new Speed(mInitialVelocityUncertainty, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets initial velocity uncertainty per axis.
     *
     * @param initialVelocityUncertainty initial velocity uncertainty per axis.
     */
    public void setInitialVelocityUncertainty(final Speed initialVelocityUncertainty) {
        mInitialVelocityUncertainty = SpeedConverter.convert(
                initialVelocityUncertainty.getValue().doubleValue(),
                initialVelocityUncertainty.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets initial position uncertainty per axis expressed in meters (m)
     *
     * @return initial position uncertainty per axis expressed in meters (m).
     */
    public double getInitialPositionUncertainty() {
        return mInitialPositionUncertainty;
    }

    /**
     * Sets initial position uncertainty per axis expressed in meters (m)
     *
     * @param initialPositionUncertainty initial position uncertainty per axis expressed
     *                                   in meters (m).
     */
    public void setInitialPositionUncertainty(final double initialPositionUncertainty) {
        mInitialPositionUncertainty = initialPositionUncertainty;
    }

    /**
     * Gets initial position uncertainty per axis.
     *
     * @param result instance where initial position uncertainty per axis will be stored.
     */
    public void getInitialPositionUncertaintyDistance(final Distance result) {
        result.setValue(mInitialPositionUncertainty);
        result.setUnit(DistanceUnit.METER);
    }

    /**
     * Gets initial position uncertainty per axis.
     *
     * @return initial position uncertainty per axis.
     */
    public Distance getInitialPositionUncertaintyDistance() {
        return new Distance(mInitialPositionUncertainty, DistanceUnit.METER);
    }

    /**
     * Sets initial position uncertainty per axis.
     *
     * @param initialPositionUncertainty initial position uncertainty per axis.
     */
    public void setInitialPositionUncertainty(final Distance initialPositionUncertainty) {
        mInitialPositionUncertainty = DistanceConverter.convert(
                initialPositionUncertainty.getValue().doubleValue(),
                initialPositionUncertainty.getUnit(), DistanceUnit.METER);
    }

    /**
     * Gets initial acceleration bias uncertainty expressed in meters per squared second (m/s^2).
     *
     * @return initial acceleration bias uncertainty expressed in meters per squared second (m/s^2).
     */
    public double getInitialAccelerationBiasUncertainty() {
        return mInitialAccelerationBiasUncertainty;
    }

    /**
     * Sets initial acceleration bias uncertainty expressed in meters per squared second (m/s^2).
     *
     * @param initialAccelerationBiasUncertainty initial acceleration bias uncertainty expressed in
     *                                           meters per squared second (m/s^2).
     */
    public void setInitialAccelerationBiasUncertainty(
            final double initialAccelerationBiasUncertainty) {
        mInitialAccelerationBiasUncertainty = initialAccelerationBiasUncertainty;
    }

    /**
     * Gets initial acceleration bias uncertainty.
     *
     * @param result instance where initial acceleration bias uncertainty will be stored.
     */
    public void getInitialAccelerationBiasUncertaintyAcceleration(final Acceleration result) {
        result.setValue(mInitialAccelerationBiasUncertainty);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets initial acceleration bias uncertainty.
     *
     * @return initial acceleration bias uncertainty.
     */
    public Acceleration getInitialAccelerationBiasUncertaintyAcceleration() {
        return new Acceleration(mInitialAccelerationBiasUncertainty,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets initial acceleration bias uncertainty.
     *
     * @param initialAccelerationUncertainty initial acceleration bias uncertainty.
     */
    public void setInitialAccelerationBiasUncertainty(
            final Acceleration initialAccelerationUncertainty) {
        mInitialAccelerationBiasUncertainty = AccelerationConverter.convert(
                initialAccelerationUncertainty.getValue().doubleValue(),
                initialAccelerationUncertainty.getUnit(),
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets initial gyroscope bias uncertainty expressed in radians per second (rad/s).
     *
     * @return initial gyroscope bias uncertainty expressed in radians per second (rad/s).
     */
    public double getInitialGyroscopeBiasUncertainty() {
        return mInitialGyroscopeBiasUncertainty;
    }

    /**
     * Sets initial gyroscope bias uncertainty expressed in radians per second (rad/s).
     *
     * @param initialGyroscopeBiasUncertainty initial gyroscope bias uncertainty expressed
     *                                        in radians per second (rad/s).
     */
    public void setInitialGyroscopeBiasUncertainty(
            final double initialGyroscopeBiasUncertainty) {
        mInitialGyroscopeBiasUncertainty = initialGyroscopeBiasUncertainty;
    }

    /**
     * Gets initial gyroscope bias uncertainty.
     *
     * @param result instance where initial gyroscope bias uncertainty will be stored.
     */
    public void getInitialGyroscopeBiasUncertaintyAngularSpeed(AngularSpeed result) {
        result.setValue(mInitialGyroscopeBiasUncertainty);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets initial gyroscope bias uncertainty.
     *
     * @return initial gyroscope bias uncertainty.
     */
    public AngularSpeed getInitialGyroscopeBiasUncertaintyAngularSpeed() {
        return new AngularSpeed(mInitialGyroscopeBiasUncertainty,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets initial gyroscope bias uncertainty.
     *
     * @param initialGyroscopeBiasUncertainty initial gyroscope bias uncertainty.
     */
    public void setInitialGyroscopeBiasUncertainty(
            final AngularSpeed initialGyroscopeBiasUncertainty) {
        mInitialGyroscopeBiasUncertainty = AngularSpeedConverter.convert(
                initialGyroscopeBiasUncertainty.getValue().doubleValue(),
                initialGyroscopeBiasUncertainty.getUnit(),
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets configuration parameters.
     *
     * @param initialAttitudeUncertainty         initial attitude uncertainty per axis
     *                                           expressed in radians (rad).
     * @param initialVelocityUncertainty         initial velocity uncertainty per axis
     *                                           expressed in meters per second (m/s).
     * @param initialPositionUncertainty         initial position uncertainty per axis
     *                                           expressed in meters (m).
     * @param initialAccelerationBiasUncertainty initial acceleration bias uncertainty
     *                                           expressed in meters per squared second (m/s^2).
     * @param initialGyroscopeBiasUncertainty    initial gyroscope bias uncertainty
     *                                           expressed in radians per second (rad/s).
     */
    public void setValues(final double initialAttitudeUncertainty,

    }

    /**
     * Returns amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @return amount of progress variation before notifying a progress change during
     * calibration.
     */
    public float getProgressDelta() {
        return mProgressDelta;
    }

    /**
     * Sets amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @param progressDelta amount of progress variation before notifying a progress
     *                      change during calibration.
     * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setProgressDelta(float progressDelta) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (progressDelta < MIN_PROGRESS_DELTA ||
                progressDelta > MAX_PROGRESS_DELTA) {
            throw new IllegalArgumentException();
        }
        mProgressDelta = progressDelta;
    }

    /**
     * Returns amount of confidence expressed as a value between 0.0 and 1.0
     * (which is equivalent to 100%). The amount of confidence indicates the probability
     * that the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @return amount of confidence as a value between 0.0 and 1.0.
     */
    public double getConfidence() {
        return mConfidence;
    }

    /**
     * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
     * equivalent to 100%). The amount of confidence indicates the probability that
     * the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @param confidence confidence to be set as a value between 0.0 and 1.0.
     * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setConfidence(double confidence) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
            throw new IllegalArgumentException();
        }
        mConfidence = confidence;
    }

    /**
     * Returns maximum allowed number of iterations. If maximum allowed number of
     * iterations is achieved without converging to a result when calling calibrate(),
     * a RobustEstimatorException will be raised.
     *
     * @return maximum allowed number of iterations.
     */
    public int getMaxIterations() {
        return mMaxIterations;
    }

    /**
     * Sets maximum allowed number of iterations. When the maximum number of iterations
     * is exceeded, result will not be available, however an approximate result will be
     * available for retrieval.
     *
     * @param maxIterations maximum allowed number of iterations to be set.
     * @throws IllegalArgumentException if provided value is less than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setMaxIterations(int maxIterations) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (maxIterations < MIN_ITERATIONS) {
            throw new IllegalArgumentException();
        }
        mMaxIterations = maxIterations;
    }

    /**
     * Gets data related to inliers found after estimation.
     *
     * @return data related to inliers found after estimation.
     */
    public InliersData getInliersData() {
        return mInliersData;
    }

    /**
     * Indicates whether result must be refined using a non-linear solver over found inliers.
     *
     * @return true to refine result, false to simply use result found by robust estimator
     * without further refining.
     */
    public boolean isResultRefined() {
        return mRefineResult;
    }

    /**
     * Specifies whether result must be refined using a non-linear solver over found inliers.
     *
     * @param refineResult true to refine result, false to simply use result found by robust
     *                     estimator without further refining.
     * @throws LockedException if calibrator is currently running.
     */
    public void setResultRefined(boolean refineResult) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mRefineResult = refineResult;
    }

    /**
     * Indicates whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @return true if covariance must be kept after refining result, false otherwise.
     */
    public boolean isCovarianceKept() {
        return mKeepCovariance;
    }

    /**
     * Specifies whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @param keepCovariance true if covariance must be kept after refining result,
     *                       false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCovarianceKept(boolean keepCovariance) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mKeepCovariance = keepCovariance;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    public double[] getQualityScores() {
        return null;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMa() {
        return mEstimatedMa;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated covariance matrix for estimated position.
     * This is only available when result has been refined and covariance
     * is kept.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #MINIMUM_MEASUREMENTS}.
     *
     * @return size of subsets to be checked during robust estimation.
     */
    public int getPreliminarySubsetSize() {
        return mPreliminarySubsetSize;
    }

    /**
     * Sets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #MINIMUM_MEASUREMENTS}.
     *
     * @param preliminarySubsetSize size of subsets to be checked during robust estimation.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is less than {@link #MINIMUM_MEASUREMENTS}.
     */
    public void setPreliminarySubsetSize(int preliminarySubsetSize) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (preliminarySubsetSize < MINIMUM_MEASUREMENTS) {

                                          final ECEFFrame frame, final ECEFFrame oldFrame,
                                          final BodyKinematics result) {
        estimateKinematics(timeInterval, frame,
                oldFrame.getCoordinateTransformation(),
                oldFrame.getVx(), oldFrame.getVy(), oldFrame.getVz(), result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final double timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final Speed vx, final Speed vy, final Speed vz,
                                          final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                          final double x, final double y, final double z,
                                          final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC,
                SpeedConverter.convert(vx.getValue().doubleValue(), vx.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(vy.getValue().doubleValue(), vy.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(vz.getValue().doubleValue(), vz.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVx.getValue().doubleValue(), oldVx.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVy.getValue().doubleValue(), oldVy.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVz.getValue().doubleValue(), oldVz.getUnit(), SpeedUnit.METERS_PER_SECOND),
                x, y, z, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final Time timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final Speed vx, final Speed vy, final Speed vz,
                                          final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                          final double x, final double y, final double z,
                                          final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC,
                SpeedConverter.convert(vx.getValue().doubleValue(), vx.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(vy.getValue().doubleValue(), vy.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(vz.getValue().doubleValue(), vz.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVx.getValue().doubleValue(), oldVx.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVy.getValue().doubleValue(), oldVy.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVz.getValue().doubleValue(), oldVz.getUnit(), SpeedUnit.METERS_PER_SECOND),
                x, y, z, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     cartesian body position resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final double timeInterval,
                                          final CoordinateTransformation c,

        mBiasZ = convertAcceleration(biasZ);
    }

    /**
     * Gets initial x scaling factor.
     *
     * @return initial x scaling factor.
     */
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor.
     *
     * @param initialSx initial x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSx(final double initialSx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor.
     *
     * @return initial y scaling factor.
     */
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor.
     *
     * @param initialSy initial y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSy(final double initialSy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor.
     *
     * @return initial z scaling factor.
     */
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor.
     *
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSz(final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error.
     *
     * @return initial x-y cross coupling error.
     */
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxy(final double initialMxy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error.
     *
     * @return initial x-z cross coupling error.
     */
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error.
     *
     * @param initialMxz initial x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxz(final double initialMxz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error.
     *
     * @return initial y-x cross coupling error.
     */
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error.
     *
     * @param initialMyx initial y-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyx(final double initialMyx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error.
     *
     * @return initial y-z cross coupling error.
     */
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error.
     *
     * @param initialMyz initial y-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyz(final double initialMyz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error.
     *
     * @return initial z-x cross coupling error.
     */
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error.
     *
     * @param initialMzx initial z-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzx(final double initialMzx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error.
     *
     * @return initial z-y cross coupling error.
     */
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error.
     *
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzy(final double initialMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors.
     *
     * @param initialSx initial x scaling factor.
     * @param initialSy initial y scaling factor.
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy, final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors.
     *
     * @param initialSx  initial x scaling factor.
     * @param initialSy  initial y scaling factor.
     * @param initialSz  initial z scaling factor.
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets known bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containing coordinates of known bias.
     */
    public double[] getBias() {

    }

    /**
     * Gets initial x scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial x scaling factor.
     */
    public double getInitialSx() {
        return mInitialSx;
    }

    /**
     * Sets initial x scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSx initial x scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSx(final double initialSx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
    }

    /**
     * Gets initial y scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial y scaling factor.
     */
    public double getInitialSy() {
        return mInitialSy;
    }

    /**
     * Sets initial y scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSy initial y scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSy(final double initialSy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSy = initialSy;
    }

    /**
     * Gets initial z scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial z scaling factor.
     */
    public double getInitialSz() {
        return mInitialSz;
    }

    /**
     * Sets initial z scaling factor.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialSz(final double initialSz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSz = initialSz;
    }

    /**
     * Gets initial x-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial x-y cross coupling error.
     */
    public double getInitialMxy() {
        return mInitialMxy;
    }

    /**
     * Sets initial x-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxy(final double initialMxy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
    }

    /**
     * Gets initial x-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial x-z cross coupling error.
     */
    public double getInitialMxz() {
        return mInitialMxz;
    }

    /**
     * Sets initial x-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMxz initial x-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMxz(final double initialMxz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxz = initialMxz;
    }

    /**
     * Gets initial y-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial y-x cross coupling error.
     */
    public double getInitialMyx() {
        return mInitialMyx;
    }

    /**
     * Sets initial y-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMyx initial y-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyx(final double initialMyx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyx = initialMyx;
    }

    /**
     * Gets initial y-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial y-z cross coupling error.
     */
    public double getInitialMyz() {
        return mInitialMyz;
    }

    /**
     * Sets initial y-z cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMyz initial y-z cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMyz(final double initialMyz) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMyz = initialMyz;
    }

    /**
     * Gets initial z-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial z-x cross coupling error.
     */
    public double getInitialMzx() {
        return mInitialMzx;
    }

    /**
     * Sets initial z-x cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMzx initial z-x cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzx(final double initialMzx) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzx = initialMzx;
    }

    /**
     * Gets initial z-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial z-y cross coupling error.
     */
    public double getInitialMzy() {
        return mInitialMzy;
    }

    /**
     * Sets initial z-y cross coupling error.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialMzy(final double initialMzy) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSx initial x scaling factor.
     * @param initialSy initial y scaling factor.
     * @param initialSz initial z scaling factor.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactors(
            final double initialSx, final double initialSy, final double initialSz)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialSx = initialSx;
        mInitialSy = initialSy;
        mInitialSz = initialSz;
    }

    /**
     * Sets initial cross coupling errors.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialCrossCouplingErrors(
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mInitialMxy = initialMxy;
        mInitialMxz = initialMxz;
        mInitialMyx = initialMyx;
        mInitialMyz = initialMyz;
        mInitialMzx = initialMzx;
        mInitialMzy = initialMzy;
    }

    /**
     * Sets initial scaling factors and cross coupling errors.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialSx  initial x scaling factor.
     * @param initialSy  initial y scaling factor.
     * @param initialSz  initial z scaling factor.
     * @param initialMxy initial x-y cross coupling error.
     * @param initialMxz initial x-z cross coupling error.
     * @param initialMyx initial y-x cross coupling error.
     * @param initialMyz initial y-z cross coupling error.
     * @param initialMzx initial z-x cross coupling error.
     * @param initialMzy initial z-y cross coupling error.
     * @throws LockedException if calibrator is currently running.
     */
    public void setInitialScalingFactorsAndCrossCouplingErrors(
            final double initialSx, final double initialSy, final double initialSz,
            final double initialMxy, final double initialMxz, final double initialMyx,
            final double initialMyz, final double initialMzx, final double initialMzy)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        setInitialScalingFactors(initialSx, initialSy, initialSz);
        setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx,
                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMa() {

                INSLooselyCoupledKalmanState.NUM_PARAMS);

        final Matrix tmp1 = omegaIe.multiplyByScalarAndReturnNew(
                propagationInterval);
        final Matrix tmp2 = phiMatrix.getSubmatrix(0, 0,
                2, 2);
        tmp2.subtract(tmp1);

        phiMatrix.setSubmatrix(0, 0,
                2, 2, tmp2);

        final Matrix estCbeOld = previousState
                .getBodyToEcefCoordinateTransformationMatrix();
        tmp1.copyFrom(estCbeOld);
        tmp1.multiplyByScalar(propagationInterval);

        phiMatrix.setSubmatrix(0, 12,
                2, 14, tmp1);
        phiMatrix.setSubmatrix(3, 9,
                5, 11, tmp1);

        final Matrix measFibb = new Matrix(BodyKinematics.COMPONENTS, 1);
        measFibb.setElementAtIndex(0, fx);
        measFibb.setElementAtIndex(1, fy);
        measFibb.setElementAtIndex(2, fz);

        estCbeOld.multiply(measFibb, tmp1);

        Utils.skewMatrix(tmp1, tmp2);
        tmp2.multiplyByScalar(-propagationInterval);

        phiMatrix.setSubmatrix(3, 0,
                5, 2, tmp2);

        phiMatrix.getSubmatrix(3, 3,
                5, 5, tmp1);
        tmp2.copyFrom(omegaIe);
        tmp2.multiplyByScalar(2.0 * propagationInterval);
        tmp1.subtract(tmp2);
        phiMatrix.setSubmatrix(3, 3,
                5, 5, tmp1);

        final double sinPrevLat = Math.sin(previousLatitude);
        final double cosPrevLat = Math.cos(previousLatitude);
        final double sinPrevLat2 = sinPrevLat * sinPrevLat;
        final double cosPrevLat2 = cosPrevLat * cosPrevLat;

        // From (2.137)
        final double geocentricRadius = EARTH_EQUATORIAL_RADIUS_WGS84
                / Math.sqrt(1.0 - Math.pow(EARTH_ECCENTRICITY * sinPrevLat, 2.0))
                * Math.sqrt(cosPrevLat2
                + Math.pow(1.0 - EARTH_ECCENTRICITY * EARTH_ECCENTRICITY, 2.0) * sinPrevLat2);

        final double prevX = previousState.getX();
        final double prevY = previousState.getY();
        final double prevZ = previousState.getZ();
        final ECEFGravity gravity = ECEFGravityEstimator.estimateGravityAndReturnNew(
                prevX, prevY, prevZ);

        final double previousPositionNorm = Math.sqrt(prevX * prevX +
                prevY * prevY + prevZ * prevZ);

        final Matrix estRebeOld = new Matrix(ECEFPosition.COMPONENTS, 1);
        estRebeOld.setElementAtIndex(0, prevX);
        estRebeOld.setElementAtIndex(1, prevY);
        estRebeOld.setElementAtIndex(2, prevZ);

        final Matrix g = gravity.asMatrix();
        g.multiplyByScalar(-2.0 * propagationInterval / geocentricRadius);

        final Matrix estRebeOldTrans = estRebeOld.transposeAndReturnNew();
        estRebeOldTrans.multiplyByScalar(1.0 / previousPositionNorm);

        g.multiply(estRebeOldTrans, tmp1);

        phiMatrix.setSubmatrix(3, 6,
                5, 8, tmp1);

        for (int i = 0; i < ECEFPosition.COMPONENTS; i++) {
            phiMatrix.setElementAt(6 + i, 3 + i, propagationInterval);
        }

                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets a list of body kinematics measurements taken at different
     * frames (positions, orientations and velocities) and containing the standard
     * deviations of accelerometer and gyroscope measurements.
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @return a collection of body kinematics measurements taken at different
     * frames (positions, orientations and velocities).
     */
    public List<StandardDeviationFrameBodyKinematics> getMeasurements() {
        return mMeasurements;
    }

    /**
     * Sets a list of body kinematics measurements taken at different
     * frames (positions, orientations and velocities) and containing the standard
     * deviations of accelerometer and gyroscope measurements.
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @param measurements collection of body kinematics measurements taken at different
     *                     frames (positions, orientations and velocities).
     * @throws LockedException if calibrator is currently running.
     */
    public void setMeasurements(
            final List<StandardDeviationFrameBodyKinematics> measurements)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMeasurements = measurements;
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer and gyroscope,
     * false otherwise.
     */
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
     *                       and gyroscope, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCommonAxisUsed(final boolean commonAxisUsed)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Gets listener to handle events raised by this estimator.
     *
     * @return listener to handle events raised by this estimator.
     */
    public RobustKnownBiasAndFrameGyroscopeCalibratorListener getListener() {

        mBiasZ = convertAcceleration(biasZ);
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containint coordinates of known bias.
     */
    @Override
    public double[] getBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void getBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mBiasX;
        result[1] = mBiasY;
        result[2] = mBiasZ;
    }

    /**
     * Sets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param bias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void setBias(final double[] bias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (bias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mBiasX = bias[0];
        mBiasY = bias[1];
        mBiasZ = bias[2];
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @return known accelerometer bias as a column matrix.
     */
    @Override
    public Matrix getBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void getBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mBiasX);
        result.setElementAtIndex(1, mBiasY);
        result.setElementAtIndex(2, mBiasZ);
    }

    /**
     * Sets known accelerometer bias as a column matrix.
     *
     * @param bias accelerometer bias to be set.
     * @throws LockedException          if calibrator is currently running
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void setBias(final Matrix bias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (bias.getRows() != BodyKinematics.COMPONENTS
                || bias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mBiasX = bias.getElementAtIndex(0);
        mBiasY = bias.getElementAtIndex(1);
        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Indicates whether estimator is ready to start the estimator.
     *
     * @return true if estimator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return mMeasurements != null
                && mMeasurements.size() >= MINIMUM_MEASUREMENTS;
    }

    /**
     * Indicates whether estimator is currently running or not.
     *
     * @return true if estimator is running, false otherwise.
     */
    @Override
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if estimator is currently running.
     * @throws NotReadyException    if estimator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }

        if (!isReady()) {
            throw new NotReadyException();
        }

        try {
            mRunning = true;

            if (mListener != null) {
                mListener.onCalibrateStart(this);
            }

            if (mCommonAxisUsed) {
                calibrateCommonAxis();
            } else {
                calibrateGeneral();
            }

            if (mListener != null) {
                mListener.onCalibrateEnd(this);
            }

        } catch (final AlgebraException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    @Override
    public Matrix getEstimatedMa() {

        setResult(m, b);
    }

    /**
     * Sets input data into Levenberg-Marquardt fitter.
     */
    private void setInputData() throws AlgebraException {

        final Matrix ba = getAccelerometerBiasAsMatrix();
        final Matrix ma = getAccelerometerMa();

        final double[] measuredBeforeF = new double[BodyKinematics.COMPONENTS];
        final double[] fixedBeforeF = new double[BodyKinematics.COMPONENTS];

        final double[] measuredAfterF = new double[BodyKinematics.COMPONENTS];
        final double[] fixedAfterF = new double[BodyKinematics.COMPONENTS];

        final int numSequences = mSequences.size();
        final Matrix x = new Matrix(numSequences,
                2 * BodyKinematics.COMPONENTS);
        final double[] y = new double[numSequences];
        final double[] standardDeviations = new double[numSequences];

        // make a copy of input sequences that will be used to update
        // kinematics measurements with fixed values for memory efficiency

        mFixedSequences = new ArrayList<>();
        for (BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence : mSequences) {
            mFixedSequences.add(new BodyKinematicsSequence<>(sequence));
        }

        mAccelerationFixer.setBias(ba);
        mAccelerationFixer.setCrossCouplingErrors(ma);

        int i = 0;
        for (BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence : mSequences) {
            // sequence mean accelerometer samples of previous static
            // period will need to be fixed using accelerometer calibration
            // parameters
            measuredBeforeF[0] = sequence.getBeforeMeanFx();
            measuredBeforeF[1] = sequence.getBeforeMeanFy();
            measuredBeforeF[2] = sequence.getBeforeMeanFz();
            mAccelerationFixer.fix(measuredBeforeF, fixedBeforeF);

            measuredAfterF[0] = sequence.getAfterMeanFx();
            measuredAfterF[1] = sequence.getAfterMeanFy();
            measuredAfterF[2] = sequence.getAfterMeanFz();
            mAccelerationFixer.fix(measuredAfterF, fixedAfterF);

            // because we are only interested in gravity direction, we
            // normalize these vectors, so that gravity becomes independent
            // of current Earth position.
            ArrayUtils.normalize(fixedBeforeF);
            ArrayUtils.normalize(fixedAfterF);

            x.setSubmatrix(i, 0, i, 2,
                    fixedBeforeF);
            x.setSubmatrix(i, 3, i, 5,
                    fixedAfterF);

            y[i] = 0.0;

            standardDeviations[i] = computeAverageAngularRateStandardDeviation(
                    sequence);
            i++;
        }

        mFitter.setInputData(x, y, standardDeviations);
    }

    /**
     * Computes average angular rate standard deviation for measurements
     * in provided sequence.
     *
     * @param sequence a sequence.
     * @return average angular rate standard deviation expressed in radians
     * per second (rad/s).
     */
    private static double computeAverageAngularRateStandardDeviation(
            final BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence) {
        List<StandardDeviationTimedBodyKinematics> items = sequence.getSortedItems();
        final double size = items.size();

        double result = 0.0;
        for (StandardDeviationTimedBodyKinematics item : items) {
            result += item.getAngularRateStandardDeviation() / size;
        }

        return result;
    }

    /**
     * Converts acceleration instance to meters per squared second.
     *
     * @param acceleration acceleration instance to be converted.
     * @return converted value.
     */
    private static double convertAcceleration(final Acceleration acceleration) {
        return AccelerationConverter.convert(acceleration.getValue().doubleValue(),
                acceleration.getUnit(), AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Converts angular speed instance to radians per second.
     *
     * @param angularSpeed angular speed instance to be converted.
     * @return converted value.
     */
    private static double convertAngularSpeed(final AngularSpeed angularSpeed) {
        return AngularSpeedConverter.convert(angularSpeed.getValue().doubleValue(),
                angularSpeed.getUnit(), AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Makes proper conversion of internal cross-coupling, bias and g-dependent
     * cross bias matrices.
     *
     * @param m internal scaling and cross-coupling matrix.
     * @param b internal bias matrix.
     * @param g internal g-dependent cross bias matrix.
     * @throws AlgebraException if a numerical instability occurs.
     */
    private void setResult(final Matrix m, final Matrix b, final Matrix g)

        mListener = listener;
    }

    /**
     * Gets known x coordinate of accelerometer bias expressed in meters per squared
     * second (m/s^2).
     *
     * @return x coordinate of accelerometer bias.
     */
    @Override
    public double getBiasX() {
        return mBiasX;
    }

    /**
     * Sets known x coordinate of accelerometer bias expressed in meters per squared
     * second (m/s^2).
     *
     * @param biasX x coordinate of accelerometer bias.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setBiasX(final double biasX) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasX = biasX;
    }

    /**
     * Gets known y coordinate of accelerometer bias expressed in meters per squared
     * second (m/s^2).
     *
     * @return y coordinate of accelerometer bias.
     */
    @Override
    public double getBiasY() {
        return mBiasY;
    }

    /**
     * Sets known y coordinate of accelerometer bias expressed in meters per squared
     * second (m/s^2).
     *
     * @param biasY y coordinate of accelerometer bias.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setBiasY(final double biasY) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mBiasY = biasY;
    }

    /**
     * Gets known z coordinate of accelerometer bias expressed in meters per squared
     * second (m/s^2).
     *
     * @return z coordinate of accelerometer bias.
     */
    @Override
    public double getBiasZ() {
        return mBiasZ;
    }

    /**
     * Sets known z coordinate of accelerometer bias expressed in meters per squared
     * second (m/s^2).
     *
     * @param biasZ z coordinate of accelerometer bias.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setBiasZ(final double biasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mBiasZ = biasZ;
    }

    /**
     * Gets known x coordinate of accelerometer bias.
     *
     * @return x coordinate of accelerometer bias.
     */
    @Override
    public Acceleration getBiasXAsAcceleration() {
        return new Acceleration(mBiasX, AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known x coordinate of accelerometer bias.
     *
     * @param result instance where result data will be stored.
     */
    @Override
    public void getBiasXAsAcceleration(final Acceleration result) {
        result.setValue(mBiasX);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known x coordinate of accelerometer bias.
     *
     * @param biasX x coordinate of accelerometer bias.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setBiasX(final Acceleration biasX) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mBiasX = convertAcceleration(biasX);
    }

    /**
     * Gets known y coordinate of accelerometer bias.
     *
     * @return y coordinate of accelerometer bias.
     */
    @Override
    public Acceleration getBiasYAsAcceleration() {
        return new Acceleration(mBiasY, AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known y coordinate of accelerometer bias.
     *
     * @param result instance where result data will be stored.
     */
    @Override
    public void getBiasYAsAcceleration(final Acceleration result) {
        result.setValue(mBiasY);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known y coordinate of accelerometer bias.
     *
     * @param biasY y coordinate of accelerometer bias.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setBiasY(final Acceleration biasY) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mBiasY = convertAcceleration(biasY);
    }

    /**
     * Gets known z coordinate of accelerometer bias.
     *
     * @return z coordinate of accelerometer bias.
     */
    @Override
    public Acceleration getBiasZAsAcceleration() {
        return new Acceleration(mBiasZ, AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets known z coordinate of accelerometer bias.
     *
     * @param result instance where result data will be stored.
     */
    @Override
    public void getBiasZAsAcceleration(final Acceleration result) {
        result.setValue(mBiasZ);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets known z coordinate of accelerometer bias.
     *
     * @param biasZ z coordinate of accelerometer bias.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setBiasZ(final Acceleration biasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mBiasZ = convertAcceleration(biasZ);
    }

    /**
     * Sets known accelerometer bias coordinates expressed in meters per squared
     * second (m/s^2).
     *
     * @param biasX x coordinate of accelerometer bias.
     * @param biasY y coordinate of accelerometer bias.
     * @param biasZ z coordinate of accelerometer bias.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setBiasCoordinates(
            final double biasX, final double biasY, final double biasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mBiasX = biasX;
        mBiasY = biasY;
        mBiasZ = biasZ;
    }

    /**
     * Sets known accelerometer bias coordinates.
     *
     * @param biasX z coordinate of accelerometer bias.
     * @param biasY y coordinate of accelerometer bias.
     * @param biasZ z coordinate of accelerometer bias.
     * @throws LockedException if estimator is curently running.
     */
    @Override
    public void setBiasCoordinates(final Acceleration biasX, final Acceleration biasY,
                                   final Acceleration biasZ) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mBiasX = convertAcceleration(biasX);
        mBiasY = convertAcceleration(biasY);
        mBiasZ = convertAcceleration(biasZ);
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containint coordinates of known bias.
     */
    @Override
    public double[] getBias() {

            mRunning = false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors.
     */
    @Override
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing g-dependent cross biases.
     */
    @Override
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed for both
     * the accelerometer and gyroscope.
     *
     * @throws AlgebraException if there are numerical errors.
     */
    private void calibrateCommonAxis() throws AlgebraException {
        // The gyroscope model is:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue

        // Hence:
        // [Ωmeasx] = [bx] + ( [1   0   0] + [sx    mxy    mxz]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [0   1   0]   [myx   sy     myz]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [0   0   1]   [mzx   mzy    sz ]  [Ωtruez]   [g31   g32   g33][ftruez]

        // where myx = mzx = mzy = 0

        // Hence:
        // [Ωmeasx] = [bx] + ( [1   0   0] + [sx    mxy    mxz]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [0   1   0]   [0     sy     myz]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [0   0   1]   [0     0      sz ]  [Ωtruez]   [g31   g32   g33][ftruez]


        // [Ωmeasx] = [bx] + ( [1+sx  mxy    mxz ]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [0     1+sy   myz ]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [0     0      1+sz]  [Ωtruez]   [g31   g32   g33][ftruez]

        // Ωmeasx = bx + (1+sx) * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy = by + (1+sy) * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz = bz + (1+sz) * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // Where the unknowns are: sx, sy, sz, mxy mxz, myz, g11, g12, g13, g21, g22, g23, g31, g32, g33
        // Reordering:
        // Ωmeasx = bx + Ωtruex + sx * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy = by + Ωtruey + sy * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz = bz + Ωtruez + sz * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // Ωmeasx - Ωtruex - bx = sx * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy - Ωtruey - by = sy * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz - Ωtruez - bz = sz * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // [Ωtruex  0       0       Ωtruey  Ωtruez  0       ftruex  ftruey  ftruez  0       0       0       0       0       0     ][sx ] =  [Ωmeasx - Ωtruex - bx]
        // [0       Ωtruey  0       0       0       Ωtruez  0       0       0       ftruex  ftruey  ftruez  0       0       0     ][sy ]    [Ωmeasy - Ωtruey - by]
        // [0       0       Ωtruez  0       0       0       0       0       0       0       0       0       ftruex  ftruey  ftruez][sz ]    [Ωmeasz - Ωtruez - bz]
        //                                                                                                                         [mxy]
        //                                                                                                                         [mxz]
        //                                                                                                                         [myz]
        //                                                                                                                         [g11]
        //                                                                                                                         [g12]
        //                                                                                                                         [g13]
        //                                                                                                                         [g21]
        //                                                                                                                         [g22]
        //                                                                                                                         [g23]
        //                                                                                                                         [g31]
        //                                                                                                                         [g32]
        //                                                                                                                         [g33]

        final BodyKinematics expectedKinematics = new BodyKinematics();

        final int rows = EQUATIONS_PER_MEASUREMENT * mMeasurements.size();
        final Matrix a = new Matrix(rows, COMMON_Z_AXIS_UNKNOWNS);
        final Matrix b = new Matrix(rows, 1);
        int i = 0;
        for (final FrameBodyKinematics measurement : mMeasurements) {
            final BodyKinematics measuredKinematics = measurement.getKinematics();
            final ECEFFrame ecefFrame = measurement.getFrame();
            final ECEFFrame previousEcefFrame = measurement.getPreviousFrame();
            final double timeInterval = measurement.getTimeInterval();

            ECEFKinematicsEstimator.estimateKinematics(timeInterval, ecefFrame,
                    previousEcefFrame, expectedKinematics);

            final double omegaMeasX = measuredKinematics.getAngularRateX();
            final double omegaMeasY = measuredKinematics.getAngularRateY();
            final double omegaMeasZ = measuredKinematics.getAngularRateZ();

            final double omegaTrueX = expectedKinematics.getAngularRateX();
            final double omegaTrueY = expectedKinematics.getAngularRateY();
            final double omegaTrueZ = expectedKinematics.getAngularRateZ();

            final double fTrueX = expectedKinematics.getFx();
            final double fTrueY = expectedKinematics.getFy();
            final double fTrueZ = expectedKinematics.getFz();

            a.setElementAt(i, 0, omegaTrueX);

        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMa initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMa(final Matrix initialMa) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMa.getRows() != BodyKinematics.COMPONENTS ||
                initialMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMa.getElementAtIndex(0);
        mInitialMyx = initialMa.getElementAtIndex(1);
        mInitialMzx = initialMa.getElementAtIndex(2);

        mInitialMxy = initialMa.getElementAtIndex(3);
        mInitialSy = initialMa.getElementAtIndex(4);
        mInitialMzy = initialMa.getElementAtIndex(5);

        mInitialMxz = initialMa.getElementAtIndex(6);
        mInitialMyz = initialMa.getElementAtIndex(7);
        mInitialSz = initialMa.getElementAtIndex(8);
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @return position where body kinematics measures have been taken.
     */
    public ECEFPosition getEcefPosition() {
        return mPosition;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final ECEFPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = position;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @return position where body kinematics measures have been taken or null if
     * not available.
     */
    public NEDPosition getNedPosition() {
        final NEDPosition result = new NEDPosition();
        return getNedPosition(result) ? result : null;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param result instance where result will be stored.
     * @return true if NED position could be computed, false otherwise.
     */
    public boolean getNedPosition(final NEDPosition result) {

        if (mPosition != null) {
            final NEDVelocity velocity = new NEDVelocity();
            ECEFtoNEDPositionVelocityConverter.convertECEFtoNED(
                    mPosition.getX(), mPosition.getY(), mPosition.getZ(),
                    0.0, 0.0, 0.0, result, velocity);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Sets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final NEDPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = convertPosition(position);
    }

    /**
     * Gets a collection of body kinematics measurements taken at
     * a given position with different unknown orientations and containing
     * the standard deviations of accelerometer and gyroscope measurements.
     *
     * @return collection of body kinematics measurements at a known position
     * with unknown orientations.
     */
    public Collection<StandardDeviationBodyKinematics> getMeasurements() {

        mInitialBiasZ = initialBias.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMa initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMa(final Matrix initialMa) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMa.getRows() != BodyKinematics.COMPONENTS ||
                initialMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMa.getElementAtIndex(0);
        mInitialMyx = initialMa.getElementAtIndex(1);
        mInitialMzx = initialMa.getElementAtIndex(2);

        mInitialMxy = initialMa.getElementAtIndex(3);
        mInitialSy = initialMa.getElementAtIndex(4);
        mInitialMzy = initialMa.getElementAtIndex(5);

        mInitialMxz = initialMa.getElementAtIndex(6);
        mInitialMyz = initialMa.getElementAtIndex(7);
        mInitialSz = initialMa.getElementAtIndex(8);
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @return position where body kinematics measures have been taken.
     */
    public ECEFPosition getEcefPosition() {
        return mPosition;
    }

    /**
     * Sets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final ECEFPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = position;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @return position where body kinematics measures have been taken or null if
     * not available.
     */
    public NEDPosition getNedPosition() {
        final NEDPosition result = new NEDPosition();
        return getNedPosition(result) ? result : null;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param result instance where result will be stored.
     * @return true if NED position could be computed, false otherwise.
     */
    public boolean getNedPosition(final NEDPosition result) {

        if (mPosition != null) {
            final NEDVelocity velocity = new NEDVelocity();
            ECEFtoNEDPositionVelocityConverter.convertECEFtoNED(
                    mPosition.getX(), mPosition.getY(), mPosition.getZ(),
                    0.0, 0.0, 0.0, result, velocity);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Sets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final NEDPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = convertPosition(position);
    }

    /**
     * Gets a collection of body kinematics measurements taken at
     * a given position with different unknown orientations and containing
     * the standard deviations of accelerometer and gyroscope measurements.
     *
     * @return collection of body kinematics measurements at a known position
     * with unknown orientations.
     */
    public Collection<StandardDeviationBodyKinematics> getMeasurements() {

            SequentialRobustMixedRadioSourceEstimatorListener<S, P> listener)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than minimum required samples.
     * @throws LockedException if robust solver is locked because an
     * estimation is already in progress.
     */
    public void setQualityScores(double[] qualityScores) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     *
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPowerdBm() {
        return mInitialTransmittedPowerdBm;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     *
     * @param initialTransmittedPowerdBm initial transmitted power to start the
     *                                   estimation of radio source transmitted
     *                                   power.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialTransmittedPowerdBm(Double initialTransmittedPowerdBm)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialTransmittedPowerdBm = initialTransmittedPowerdBm;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     *
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPower() {
        return mInitialTransmittedPowerdBm != null ?
                Utils.dBmToPower(mInitialTransmittedPowerdBm) : null;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     *
     * @param initialTransmittedPower initial transmitted power to start the
     *                                estimation of radio source transmitted power.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setInitialTransmittedPower(Double initialTransmittedPower)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (initialTransmittedPower != null) {
            if (initialTransmittedPower < 0.0) {
                throw new IllegalArgumentException();
            }
            mInitialTransmittedPowerdBm = Utils.powerTodBm(
                    initialTransmittedPower);
        } else {
            mInitialTransmittedPowerdBm = null;
        }
    }

    /**
     * Gets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     *
     * @return initial position to start the estimation of radio source position.
     */
    public P getInitialPosition() {
        return mInitialPosition;
    }

    /**
     * Sets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     *
     * @param initialPosition initial position to start the estimation of radio
     *                        source position.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPosition(P initialPosition) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPosition = initialPosition;
    }

    /**
     * Gets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     *
     * @return initial path loss exponent.
     */
    public double getInitialPathLossExponent() {
        return mInitialPathLossExponent;
    }

    /**
     * Sets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     *
     * @param initialPathLossExponent initial path loss exponent.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPathLossExponent(double initialPathLossExponent)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPathLossExponent = initialPathLossExponent;
    }

    /**
     * Indicates whether transmitted power estimation is enabled or not.
     *
     * @return true if transmitted power estimation is enabled, false otherwise.
     */
    public boolean isTransmittedPowerEstimationEnabled() {
        return mTransmittedPowerEstimationEnabled;
    }

    /**
     * Specifies whether transmitted power estimation is enabled or not.
     *
     * @param transmittedPowerEstimationEnabled true if transmitted power estimation is enabled,
     *                                          false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setTransmittedPowerEstimationEnabled(boolean transmittedPowerEstimationEnabled)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mTransmittedPowerEstimationEnabled = transmittedPowerEstimationEnabled;
    }

    /**
     * Indicates whether path loss estimation is enabled or not.
     *
     * @return true if path loss estimation is enabled, false otherwise.
     */
    public boolean isPathLossEstimationEnabled() {
        return mPathLossEstimationEnabled;
    }

    /**
     * Specifies whether path loss estimation is enabled or not.
     *
     * @param pathLossEstimationEnabled true if path loss estimation is enabled,
     *                                  false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setPathLossEstimationEnabled(boolean pathLossEstimationEnabled)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mPathLossEstimationEnabled = pathLossEstimationEnabled;
    }

    /**
     * Indicates whether position covariances of readings must be taken into account to increase
     * the amount of standard deviation of each ranging measure by the amount of position standard
     * deviation assuming that both measures are statistically independent.
     *
     * @return true to take into account reading position covariances, false otherwise.
     */
    public boolean getUseReadingPositionCovariance() {
        return mUseReadingPositionCovariances;
    }

    /**
     * Specifies whether position covariances of readings must be taken into account to increase
     * the amount of standard deviation of each ranging measure by the amount of position standard
     * deviation assuming that both measures are statistically independent.
     *
     * @param useReadingPositionCovariances true to take into account reading position covariances, false
     *                                      otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setUseReadingPositionCovariances(boolean useReadingPositionCovariances)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mUseReadingPositionCovariances = useReadingPositionCovariances;
    }

    /**
     * Indicates whether an homogeneous ranging linear solver is used to estimate preliminary
     * positions.
     *
     * @return true if homogeneous ranging linear solver is used, false if an inhomogeneous ranging linear
     * one is used instead.
     */
    public boolean isHomogeneousRangingLinearSolverUsed() {
        return mUseHomogeneousRangingLinearSolver;
    }

    /**
     * Specifies whether an homogeneous ranging linear solver is used to estimate preliminary
     * positions.
     *
     * @param useHomogeneousRangingLinearSolver true if homogeneous ranging linear solver is used, false
     *                                          if an inhomogeneous ranging linear one is used instead.
     * @throws LockedException if estimator is locked.
     */
    public void setHomogeneousRangingLinearSolverUsed(
            boolean useHomogeneousRangingLinearSolver) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }

        mUseHomogeneousRangingLinearSolver = useHomogeneousRangingLinearSolver;
    }


    /**
     * Gets covariance for estimated position and power.
     * Matrix contains information in the following order:
     * Top-left submatrix contains covariance of position,
     * then follows transmitted power variance, and finally
     * the last element contains pathloss exponent variance.
     * This is only available when result has been refined and covariance is kept.
     *
     * @return covariance for estimated position and power.
     */
    public Matrix getCovariance() {
        return mCovariance;
    }

    /**
     * Gets estimated position covariance.
     * Size of this matrix will depend on the number of dimensions
     * of estimated position (either 2 or 3).
     * This is only available when result has been refined and covariance is kept.
     *
     * @return estimated position covariance.
     */
    public Matrix getEstimatedPositionCovariance() {
        return mEstimatedPositionCovariance;
    }

    /**
     * Gets estimated position.
     *
     * @return estimated position.
     */
    public P getEstimatedPosition() {
        return mEstimatedPosition;
    }

    /**
     * Indicates whether readings are valid or not.
     * Readings are considered valid when there are enough readings.
     *
     * @param readings readings to be validated.
     * @return true if readings are valid, false otherwise.
     */
    public boolean areValidReadings(
            List<? extends ReadingLocated<P>> readings) {

        if (mEstimatedMa == null) {
            mEstimatedMa = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
        } else {
            mEstimatedMa.initialize(0.0);
        }

        mEstimatedMa.setElementAt(0, 0, sx);
        mEstimatedMa.setElementAt(1, 0, myx);
        mEstimatedMa.setElementAt(2, 0, mzx);

        mEstimatedMa.setElementAt(0, 1, mxy);
        mEstimatedMa.setElementAt(1, 1, sy);
        mEstimatedMa.setElementAt(2, 1, mzy);

        mEstimatedMa.setElementAt(0, 2, mxz);
        mEstimatedMa.setElementAt(1, 2, myz);
        mEstimatedMa.setElementAt(2, 2, sz);

        mEstimatedCovariance = mFitter.getCovar();
        mEstimatedChiSq = mFitter.getChisq();
    }

    /**
     * Sets input data into Levenberg-Marquardt fitter.
     *
     * @throws WrongSizeException never happens.
     */
    private void setInputData() throws WrongSizeException {
        // set input data using:
        //  fmeasx = bx + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez
        //  fmeasy = by + myx * ftruex + ftruey + sy * ftruey + myz * ftruez
        //  fmeasz = bz + mzx * ftruex + mzy * ftruey + ftruez + sz * ftruez

        final BodyKinematics expectedKinematics = new BodyKinematics();

        final int numMeasurements = mMeasurements.size();
        final Matrix x = new Matrix(numMeasurements, BodyKinematics.COMPONENTS);
        final Matrix y = new Matrix(numMeasurements, BodyKinematics.COMPONENTS);
        final double[] specificForceStandardDeviations = new double[numMeasurements];
        int i = 0;
        for (final StandardDeviationFrameBodyKinematics measurement : mMeasurements) {
            final BodyKinematics measuredKinematics = measurement.getKinematics();
            final ECEFFrame ecefFrame = measurement.getFrame();
            final ECEFFrame previousEcefFrame = measurement.getPreviousFrame();
            final double timeInterval = measurement.getTimeInterval();

            ECEFKinematicsEstimator.estimateKinematics(timeInterval, ecefFrame,
                    previousEcefFrame, expectedKinematics);

            final double fMeasX = measuredKinematics.getFx();
            final double fMeasY = measuredKinematics.getFy();
            final double fMeasZ = measuredKinematics.getFz();

            final double fTrueX = expectedKinematics.getFx();
            final double fTrueY = expectedKinematics.getFy();
            final double fTrueZ = expectedKinematics.getFz();

            x.setElementAt(i, 0, fTrueX);
            x.setElementAt(i, 1, fTrueY);
            x.setElementAt(i, 2, fTrueZ);

            y.setElementAt(i, 0, fMeasX);
            y.setElementAt(i, 1, fMeasY);
            y.setElementAt(i, 2, fMeasZ);

            specificForceStandardDeviations[i] =
                    measurement.getSpecificForceStandardDeviation();
            i++;
        }

        mFitter.setInputData(x, y, specificForceStandardDeviations);
    }

    /**
     * Converts acceleration instance to meters per squared second.
     *
     * @param acceleration acceleration instance to be converted.
     * @return converted value.
     */
    private static double convertAcceleration(final Acceleration acceleration) {
        return AccelerationConverter.convert(acceleration.getValue().doubleValue(),
                acceleration.getUnit(), AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }
}

    public INSLooselyCoupledKalmanState(final INSLooselyCoupledKalmanState input) {
        copyFrom(input);
    }

    /**
     * Gets estimated body to ECEF coordinate transformation matrix.
     *
     * @return estimated body to ECEF coordinate transformation matrix.
     */
    public Matrix getBodyToEcefCoordinateTransformationMatrix() {
        return mBodyToEcefCoordinateTransformationMatrix;
    }

    /**
     * Sets estimated body to ECEF coordinate transformation matrix.
     *
     * @param bodyToEcefCoordinateTransformationMatrix estimated body to ECEF coordinate
     *                                                 transformation matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setBodyToEcefCoordinateTransformationMatrix(
            final Matrix bodyToEcefCoordinateTransformationMatrix) {
        if (bodyToEcefCoordinateTransformationMatrix.getRows() != CoordinateTransformation.ROWS ||
                bodyToEcefCoordinateTransformationMatrix.getColumns() != CoordinateTransformation.COLS) {
            throw new IllegalArgumentException();
        }
        mBodyToEcefCoordinateTransformationMatrix =
                bodyToEcefCoordinateTransformationMatrix;
    }

    /**
     * Gets estimated ECEF user velocity resolved around x axis and expressed in meters per second (m/s).
     *
     * @return estimated ECEF user velocity resolved around x axis and expressed in meters per second (m/s).
     */
    public double getVx() {
        return mVx;
    }

    /**
     * Sets estimated ECEF user velocity resolved around x axis and expressed in meters per second (m/s).
     *
     * @param vx estimated ECEF user velocity resolved around x axis and expressed in meters per second (m/s).
     */
    public void setVx(final double vx) {
        mVx = vx;
    }

    /**
     * Gets estimated ECEF user velocity resolved around y axis and expressed in meters per second (m/s).
     *
     * @return estimated ECEF user velocity resolved around y axis and expressed in meters per second (m/s).
     */
    public double getVy() {
        return mVy;
    }

    /**
     * Sets estimated ECEF user velocity resolved around y axis and expressed in meters per second (m/s).
     *
     * @param vy estimated ECEF user velocity resolved around y axis and expressed in meters per scond (m/s).
     */
    public void setVy(final double vy) {
        mVy = vy;
    }

    /**
     * Gets estimated ECEF user velocity resolved around z axis and expressed in meters per second (m/s).
     *
     * @return estimated ECEF user velocity resolved around z axis and expressed in meters per second (m/s).
     */
    public double getVz() {
        return mVz;
    }

    /**
     * Sets estimated ECEF user velocity resolved around z axis and expressed in meters per second (m/s).
     *
     * @param vz estimated ECEF user velocity resolved around z axis and expressed in meters per second (m/s).
     */
    public void setVz(final double vz) {
        mVz = vz;
    }

    /**
     * Sets estimated ECEF user velocity coordinates.
     *
     * @param vx estimated ECEF user velocity resolved around x axis and expressed in meters per second (m/s).
     * @param vy estimated ECEF user velocity resolved around y axis and expressed in meters per second (m/s).
     * @param vz estimated ECEF user velocity resolved around z axis and expressed in meters per second (m/s).
     */
    public void setVelocityCoordinates(
            final double vx, final double vy, final double vz) {
        mVx = vx;
        mVy = vy;
        mVz = vz;
    }

    /**
     * Gets x coordinate of estimated ECEF user position expressed in meters (m).
     *
     * @return x coordinate of estimated ECEF user position expressed in meters (m).
     */
    public double getX() {
        return mX;
    }

    /**
     * Sets x coordinate of estimated ECEF user position expressed in meters (m).
     *
     * @param x x coordinate of estimated ECEF user position expressed in meters (m).
     */
    public void setX(final double x) {
        mX = x;
    }

    /**
     * Gets y coordinate of estimated ECEF user position expressed in meters (m).
     *
     * @return y coordinate of estimated ECEF user position expressed in meters (m).
     */
    public double getY() {
        return mY;
    }

    /**
     * Sets y coordinate of estimated ECEF user position expressed in meters (m).
     *
     * @param y y coordinate of estimated ECEF user position expressed in meters (m).
     */
    public void setY(final double y) {
        mY = y;
    }

    /**
     * Gets z coordinate of estimated ECEF user position expressed in meters (m).
     *
     * @return z coordinate of estimated ECEF user position expressed in meters (m).
     */
    public double getZ() {
        return mZ;
    }

    /**
     * Sets z coordinate of estimated ECEF user position expressed in meters (m).
     *
     * @param z z coordinate of estimated ECEF user position expressed in meters (m).
     */
    public void setZ(final double z) {
        mZ = z;
    }

    /**
     * Sets estimated ECEF user position coordinates.
     *
     * @param x x coordinate of estimated ECEF user position expressed in meters (m).
     * @param y y coordinate of estimated ECEF user position expressed in meters (m).
     * @param z z coordinate of estimated ECEF user position expressed in meters (m).
     */
    public void setPositionCoordinates(
            final double x, final double y, final double z) {
        mX = x;
        mY = y;
        mZ = z;
    }

    /**
     * Gets estimated accelerometer bias resolved around x axis and expressed in
     * meters per squared second (m/s^2).
     *
     * @return estimated accelerometer bias resolved around x axis and expressed in
     * meters per squared second (m/s^2).
     */
    public double getAccelerationBiasX() {
        return mAccelerationBiasX;
    }

    /**
     * Sets estimated accelerometer bias resolved around x axis and expressed in
     * meters per squared second (m/s^2).
     *
     * @param accelerationBiasX estimated accelerometer bias resolved around x axis and
     *                          expressed in meters per squared second (m/s^2).
     */
    public void setAccelerationBiasX(final double accelerationBiasX) {
        mAccelerationBiasX = accelerationBiasX;
    }

    /**
     * Gets estimated accelerometer bias resolved around y axis and expressed in
     * meters per squared second (m/s^2).
     *
     * @return estimated accelerometer bias resolved around y axis and expressed in
     * meters per squared second (m/s^2).
     */
    public double getAccelerationBiasY() {
        return mAccelerationBiasY;
    }

    /**
     * Sets estimated accelerometer bias resolved around y axis and expressed in
     * meters per squared second (m/s^2).
     *
     * @param accelerationBiasY estimated accelerometer bias resolved around y axis
     *                          and expressed in meters per squared second (m/s^2).
     */
    public void setAccelerationBiasY(final double accelerationBiasY) {
        mAccelerationBiasY = accelerationBiasY;
    }

    /**
     * Gets estimated accelerometer bias resolved around z axis and expressed in
     * meters per squared second (m/s^2).
     *
     * @return estimated accelerometer bias resolved around z axis and
     * expressed in meters per squared second (m/s^2).
     */
    public double getAccelerationBiasZ() {
        return mAccelerationBiasZ;
    }

    /**
     * Sets estimated accelerometer bias resolved around z axis and expressed in
     * meters per squared second (m/s^2).
     *
     * @param accelerationBiasZ estimated accelerometer bias resolved around z axis
     *                          and expressed in meters per squared second (m/s^2).
     */
    public void setAccelerationBiasZ(final double accelerationBiasZ) {
        mAccelerationBiasZ = accelerationBiasZ;
    }

    /**
     * Sets estimated accelerometer bias expressed in meters per squared second (m/s^2).
     *
     * @param accelerationBiasX estimated accelerometer bias resolved around x axis and
     *                          expressed in meters per squared second (m/s^2).
     * @param accelerationBiasY estimated accelerometer bias resolved around y axis and
     *                          expressed in meters per squared second (m/s^2).
     * @param accelerationBiasZ estimated accelerometer bias resolved around z axis and
     *                          expressed in meters per squared second (m/s^2).
     */
    public void setAccelerationBiasCoordinates(
            final double accelerationBiasX, final double accelerationBiasY,
            final double accelerationBiasZ) {
        mAccelerationBiasX = accelerationBiasX;
        mAccelerationBiasY = accelerationBiasY;
        mAccelerationBiasZ = accelerationBiasZ;
    }

    /**
     * Gets estimated gyroscope bias resolved around x axis and expressed in
     * radians per second (rad/s).
     *
     * @return estimated gyroscope bias resolved around x axis and expressed in
     * radians per second (rad/s).
     */
    public double getGyroBiasX() {
        return mGyroBiasX;
    }

    /**
     * Sets estimated gyroscope bias resolved around x axis and expressed in
     * radians per second (rad/s).
     *
     * @param gyroBiasX estimated gyroscope bias resolved around x axis and
     *                  expressed in radians per second (rad/s).
     */
    public void setGyroBiasX(final double gyroBiasX) {
        mGyroBiasX = gyroBiasX;
    }

    /**
     * Gets estimated gyroscope bias resolved around y axis and expressed in
     * radians per second (rad/s).
     *
     * @return estimated gyroscope bias resolved around y axis and expressed
     * in radians per second (rad/s).
     */
    public double getGyroBiasY() {
        return mGyroBiasY;
    }

    /**
     * Sets estimated gyroscope bias resolved around y axis and expressed in
     * radians per second (rad/s).
     *
     * @param gyroBiasY estimated gyroscope bias resolved around y axis and
     *                  expressed in radians per second (rad/s).
     */
    public void setGyroBiasY(final double gyroBiasY) {
        mGyroBiasY = gyroBiasY;
    }

    /**
     * Gets estimated gyroscope bias resolved around z axis and expressed in
     * radians per second (rad/s).
     *
     * @return estimated gyroscope bias resolved around z axis and expressed
     * in radians per second (rad/s).
     */
    public double getGyroBiasZ() {
        return mGyroBiasZ;
    }

    /**
     * Sets estimated gyroscope bias resolved around z axis and expressed in
     * radians per second (rad/s).
     *
     * @param gyroBiasZ estimated gyroscope bias resolved around z axis and
     *                  expressed in radians per second (rad/s).
     */
    public void setGyroBiasZ(final double gyroBiasZ) {
        mGyroBiasZ = gyroBiasZ;
    }

    /**
     * Sets estimated gyroscope bias coordinates expressed in radians
     * per second (rad/s).
     *
     * @param gyroBiasX estimated gyroscope bias resolved around x axis and
     *                  expressed in radians per second (rad/s).
     * @param gyroBiasY estimated gyroscope bias resolved around y axis and
     *                  expressed in radians per second (rad/s).
     * @param gyroBiasZ estimated gyroscope bias resolved around z axis and
     *                  expressed in radians per second (rad/s).
     */
    public void setGyroBiasCoordinates(
            final double gyroBiasX, final double gyroBiasY, final double gyroBiasZ) {
        mGyroBiasX = gyroBiasX;
        mGyroBiasY = gyroBiasY;
        mGyroBiasZ = gyroBiasZ;
    }

    /**
     * Gets Kalman filter error covariance matrix.
     * Notice that covariance is expressed in terms of ECEF coordinates.
     * If accuracy of position, attitude or velocity needs to be expressed in terms
     * of NED coordinates, their respective submatrices of this covariance matrix
     * must be rotated, taking into account the Jacobian of the matrix transformation
     * relating both coordinates, the covariance can be expressed following the law
     * of propagation of uncertainties (https://en.wikipedia.org/wiki/Propagation_of_uncertainty)
     * as: cov(f(x)) = J*cov(x)*J'.
     *
     * @param result instance where result data will be copied to.
     * @return true if result data has been copied, false otherwise.
     */
    public boolean getCovariance(final Matrix result) {

    public static MultivariateNormalDist propagateVariancesToRssiVarianceFirstOrderNonLinear3D(
            final double fingerprintRssi, final double pathLossExponent,
            Point3D fingerprintPosition, Point3D radioSourcePosition,
            Point3D estimatedPosition,
            Double fingerprintRssiVariance,
            Double pathLossExponentVariance,
            Matrix fingerprintPositionCovariance,
            Matrix radioSourcePositionCovariance,
            Matrix estimatedPositionCovariance) throws IndoorException {

        if (fingerprintPosition == null || radioSourcePosition == null ||
                estimatedPosition == null) {
            return null;
        }

        //1st order Taylor expression of received power in 3D:
        //Pr(pi) = Pr(p1)
        //  - 10*n*(x1 - xa)/(ln(10)*d1a^2)*(xi - x1)
        //  - 10*n*(y1 - ya)/(ln(10)*d1a^2)*(yi - y1)
        //  - 10*n*(z1 - za)/(ln(10)*d1a^2)*(zi - z1)
        //where d1a^2 = (x1 - xa)^2 + (y1 - ya)^2 + (z1 - za)^2

        final double x1 = fingerprintPosition.getInhomX();
        final double y1 = fingerprintPosition.getInhomY();
        final double z1 = fingerprintPosition.getInhomZ();

        final double xa = radioSourcePosition.getInhomX();
        final double ya = radioSourcePosition.getInhomY();
        final double za = radioSourcePosition.getInhomZ();

        final double xi = estimatedPosition.getInhomX();
        final double yi = estimatedPosition.getInhomY();
        final double zi = estimatedPosition.getInhomZ();

        double[] mean = new double[] {
                fingerprintRssi, pathLossExponent, x1, y1, z1, xa, ya, za, xi, yi, zi
        };
        Matrix covariance = Matrix.diagonal(new double[]{
                fingerprintRssiVariance != null ? fingerprintRssiVariance : 0.0,
                pathLossExponentVariance != null ? pathLossExponentVariance : 0.0,
                0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        });

        if (fingerprintPositionCovariance != null &&
                fingerprintPositionCovariance.getRows() == Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH &&
                fingerprintPositionCovariance.getColumns() == Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH) {

            covariance.setSubmatrix(2, 2,
                    4, 4,
                    fingerprintPositionCovariance);
        }

        if (radioSourcePositionCovariance != null &&
                radioSourcePositionCovariance.getRows() == Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH &&
                radioSourcePositionCovariance.getColumns() == Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH) {
            covariance.setSubmatrix(5, 5,
                    7, 7,
                    radioSourcePositionCovariance);
        }

        if (estimatedPositionCovariance != null &&
                estimatedPositionCovariance.getRows() == Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH &&
                estimatedPositionCovariance.getColumns() == Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH) {
            covariance.setSubmatrix(8, 8,
                    10, 10,
                    estimatedPositionCovariance);
        }

        try {
            return MultivariateNormalDist.propagate(new MultivariateNormalDist.JacobianEvaluator() {
                @Override
                public void evaluate(double[] x, double[] y, Matrix jacobian) {

                    //Pr(pi) = Pr(p1)
                    //  - 10*n*(x1 - xa)/(ln(10)*d1a^2)*(xi - x1)
                    //  - 10*n*(y1 - ya)/(ln(10)*d1a^2)*(yi - y1)
                    //  - 10*n*(z1 - za)/(ln(10)*d1a^2)*(zi - z1)
                    //where d1a^2 = (x1 - xa)^2 + (y1 - ya)^2 + (z1 - za)^2

                    //Hence:
                    //Pr(pi) = Pr(p1) -10*n*((x1 - xa)*(xi - x1) + (y1 - ya)*(yi - y1) + (z1 - za)*(zi - z1))/
                    //      (ln(10)*((x1 - xa)^2 + (y1 - ya)^2 + (z1 - za)^2))

                    double diffX1a = x1 - xa;
                    double diffY1a = y1 - ya;
                    double diffZ1a = z1 - za;

                    double diffXi1 = xi - x1;
                    double diffYi1 = yi - y1;
                    double diffZi1 = zi - z1;

                    double diffX1a2 = diffX1a * diffX1a;
                    double diffY1a2 = diffY1a * diffY1a;
                    double diffZ1a2 = diffZ1a * diffZ1a;

                    double d1a2 = diffX1a2 + diffY1a2 + diffZ1a2;

        setInputData();

        mFitter.fit();

        final double[] result = mFitter.getA();

        final double bx = result[0];
        final double by = result[1];
        final double bz = result[2];

        final double m11 = result[3];
        final double m21 = result[4];
        final double m31 = result[5];

        final double m12 = result[6];
        final double m22 = result[7];
        final double m32 = result[8];

        final double m13 = result[9];
        final double m23 = result[10];
        final double m33 = result[11];

        final double g11 = result[12];
        final double g21 = result[13];
        final double g31 = result[14];

        final double g12 = result[15];
        final double g22 = result[16];
        final double g32 = result[17];

        final double g13 = result[18];
        final double g23 = result[19];
        final double g33 = result[20];

        final Matrix b = new Matrix(BodyKinematics.COMPONENTS, 1);
        b.setElementAtIndex(0, bx);
        b.setElementAtIndex(1, by);
        b.setElementAtIndex(2, bz);

        final Matrix m = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        m.setElementAtIndex(0, m11);
        m.setElementAtIndex(1, m21);
        m.setElementAtIndex(2, m31);

        m.setElementAtIndex(3, m12);
        m.setElementAtIndex(4, m22);
        m.setElementAtIndex(5, m32);

        m.setElementAtIndex(6, m13);
        m.setElementAtIndex(7, m23);
        m.setElementAtIndex(8, m33);

        final Matrix g = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        g.setElementAtIndex(0, g11);
        g.setElementAtIndex(1, g21);
        g.setElementAtIndex(2, g31);

        g.setElementAtIndex(3, g12);
        g.setElementAtIndex(4, g22);
        g.setElementAtIndex(5, g32);

        g.setElementAtIndex(6, g13);
        g.setElementAtIndex(7, g23);
        g.setElementAtIndex(8, g33);

        setResult(m, b, g);
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed
     * for both the accelerometer and gyroscope and G-dependent cross biases
     * are ignored.
     *
     * @throws AlgebraException                         if accelerometer parameters prevent fixing
     *                                                  measured accelerometer values due to numerical instabilities.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateCommonAxis()
            throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException {

        } catch (final AlgebraException | IOException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets array containing x,y,z components of estimated magnetometer
     * hard-iron biases expressed in Teslas (T).
     *
     * @return array containing x,y,z components of estimated magnetometer
     * hard-iron biases.
     */
    @Override
    public double[] getEstimatedHardIron() {
        return mEstimatedHardIron;
    }

    /**
     * Gets array containing x,y,z components of estimated magnetometer
     * hard-iron biases expressed in Teslas (T).
     *
     * @param result instance where estimated magnetometer biases will be
     *               stored.
     * @return true if result instance was updated, false otherwise (when
     * estimation is not yet available).
     */
    @Override
    public boolean getEstimatedHardIron(final double[] result) {
        if (mEstimatedHardIron != null) {
            System.arraycopy(mEstimatedHardIron, 0, result,
                    0, mEstimatedHardIron.length);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets column matrix containing x,y,z components of estimated
     * magnetometer hard-iron biases expressed in Teslas (T).
     *
     * @return column matrix containing x,y,z components of estimated
     * magnetometer hard-iron biases.
     */
    @Override
    public Matrix getEstimatedHardIronAsMatrix() {
        return mEstimatedHardIron != null ? Matrix.newFromArray(mEstimatedHardIron) : null;
    }

    /**
     * Gets column matrix containing x,y,z components of estimated
     * magnetometer hard-iron biases expressed in Teslas (T).
     *
     * @param result instance where result data will be stored.
     * @return true if result was updated, false otherwise.
     * @throws WrongSizeException if provided result instance has invalid size.
     */
    @Override
    public boolean getEstimatedHardIronAsMatrix(final Matrix result)
            throws WrongSizeException {
        if (mEstimatedHardIron != null) {
            result.fromArray(mEstimatedHardIron);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets x coordinate of estimated magnetometer bias expressed in
     * Teslas (T).
     *
     * @return x coordinate of estimated magnetometer bias or null if not
     * available.
     */
    @Override
    public Double getEstimatedHardIronX() {
        return mEstimatedHardIron != null ? mEstimatedHardIron[0] : null;
    }

    /**
     * Gets y coordinate of estimated magnetometer bias expressed in
     * Teslas (T).
     *
     * @return y coordinate of estimated magnetometer bias or null if not
     * available.
     */
    @Override
    public Double getEstimatedHardIronY() {
        return mEstimatedHardIron != null ? mEstimatedHardIron[1] : null;
    }

    /**
     * Gets z coordinate of estimated magnetometer bias expressed in
     * Teslas (T).
     *
     * @return z coordinate of estimated magnetometer bias or null if not
     * available.
     */
    @Override
    public Double getEstimatedHardIronZ() {
        return mEstimatedHardIron != null ? mEstimatedHardIron[2] : null;
    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    @Override
    public Matrix getEstimatedMm() {
        return mEstimatedMm;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 1) : null;
    }

            RobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
        super(readings, initialPosition, initialTransmittedPowerdBm,
                initialPathLossExponent, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this solver is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than minimum required samples.
     * @throws LockedException if robust solver is locked because an
     * estimation is already in progress.
     */
    public void setQualityScores(double[] qualityScores) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mReadings.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        PROSACRobustEstimator<Solution<Point2D>> innerEstimator =
                new PROSACRobustEstimator<>(
                        new PROSACRobustEstimatorListener<Solution<Point2D>>() {

                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mReadings.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return Math.max(mPreliminarySubsetSize, getMinReadings());
                    }

                    @Override
                    public void estimatePreliminarSolutions(int[] samplesIndices,
                            List<Solution<Point2D>> solutions) {
                        solvePreliminarSolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(Solution<Point2D> currentEstimation, int i) {
                        return residual(currentEstimation, i);
                    }

                    @Override
                    public boolean isReady() {
                        return PROSACRobustRangingAndRssiRadioSourceEstimator2D.this.isReady();

            RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
        super(readings, initialPosition, initialTransmittedPowerdBm,
                initialPathLossExponent, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this solver is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than minimum required samples.
     * @throws LockedException if robust solver is locked because an
     * estimation is already in progress.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mReadings.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        PROSACRobustEstimator<Solution<Point3D>> innerEstimator =
                new PROSACRobustEstimator<>(
                        new PROSACRobustEstimatorListener<Solution<Point3D>>() {

                            @Override
                            public double[] getQualityScores() {
                                return mQualityScores;
                            }

                            @Override
                            public double getThreshold() {
                                return mThreshold;
                            }

                            @Override
                            public int getTotalSamples() {
                                return mReadings.size();
                            }

                            @Override
                            public int getSubsetSize() {
                                return Math.max(mPreliminarySubsetSize, getMinReadings());
                            }

                            @Override
                            public void estimatePreliminarSolutions(int[] samplesIndices,
                                                                    List<Solution<Point3D>> solutions) {
                                solvePreliminarSolutions(samplesIndices, solutions);
                            }

                            @Override
                            public double computeResidual(Solution<Point3D> currentEstimation, int i) {
                                return residual(currentEstimation, i);
                            }

                            @Override
                            public boolean isReady() {
                                return PROSACRobustRangingAndRssiRadioSourceEstimator3D.this.isReady();

        mInitialBiasZ = initialBias.getElementAtIndex(2);
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @return initial gyroscope scale factors and cross coupling errors
     * matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial gyroscope scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets collection of sequences of timestamped body kinematics
     * measurements taken at a given position where the device moves freely
     * with different orientations.
     *
     * @return collection of sequences of timestamped body kinematics
     * measurements.
     */
    public List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences() {

        estimateKinematics(timeInterval, c, oldC, velocity, oldVelocity,
                position.getInhomX(), position.getInhomY(), position.getInhomZ(), result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final double timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final Speed vx, final Speed vy, final Speed vz,
                                          final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                          final Point3D position, final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                position.getInhomX(), position.getInhomY(), position.getInhomZ(), result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final Time timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final Speed vx, final Speed vy, final Speed vz,
                                          final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                          final Point3D position, final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                position.getInhomX(), position.getInhomY(), position.getInhomZ(), result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static BodyKinematics estimateKinematicsAndReturnNew(final double timeInterval,
                                                                final CoordinateTransformation c,
                                                                final CoordinateTransformation oldC,
                                                                final double vx, final double vy, final double vz,
                                                                final double oldVx, final double oldVy, final double oldVz,
                                                                final double x, final double y, final double z) {
        final BodyKinematics result = new BodyKinematics();
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                x, y, z, result);
        return result;
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between.
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static BodyKinematics estimateKinematicsAndReturnNew(final Time timeInterval,
                                                                final CoordinateTransformation c,
                                                                final CoordinateTransformation oldC,
                                                                final double vx, final double vy, final double vz,
                                                                final double oldVx, final double oldVy, final double oldVz,
                                                                final double x, final double y, final double z) {
        final BodyKinematics result = new BodyKinematics();
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                x, y, z, result);
        return result;
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param velocity     velocity of body frame with respect ECEF frame.
     * @param oldVelocity  previous velocity of body frame with respect ECEF frame.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static BodyKinematics estimateKinematicsAndReturnNew(final double timeInterval,
                                                                final CoordinateTransformation c,

        setInputData();

        mFitter.fit();

        final double[] result = mFitter.getA();

        final double bx = result[0];
        final double by = result[1];
        final double bz = result[2];

        final double m11 = result[3];

        final double m12 = result[4];
        final double m22 = result[5];

        final double m13 = result[6];
        final double m23 = result[7];
        final double m33 = result[8];

        final double g11 = result[9];
        final double g21 = result[10];
        final double g31 = result[11];

        final double g12 = result[12];
        final double g22 = result[13];
        final double g32 = result[14];

        final double g13 = result[15];
        final double g23 = result[16];
        final double g33 = result[17];

        final Matrix b = new Matrix(BodyKinematics.COMPONENTS, 1);
        b.setElementAtIndex(0, bx);
        b.setElementAtIndex(1, by);
        b.setElementAtIndex(2, bz);

        final Matrix m = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        m.setElementAtIndex(0, m11);
        m.setElementAtIndex(1, 0.0);
        m.setElementAtIndex(2, 0.0);

        m.setElementAtIndex(3, m12);
        m.setElementAtIndex(4, m22);
        m.setElementAtIndex(5, 0.0);

        m.setElementAtIndex(6, m13);
        m.setElementAtIndex(7, m23);
        m.setElementAtIndex(8, m33);

        final Matrix g = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        g.setElementAtIndex(0, g11);
        g.setElementAtIndex(1, g21);
        g.setElementAtIndex(2, g31);

        g.setElementAtIndex(3, g12);
        g.setElementAtIndex(4, g22);
        g.setElementAtIndex(5, g32);

        g.setElementAtIndex(6, g13);
        g.setElementAtIndex(7, g23);
        g.setElementAtIndex(8, g33);

        setResult(m, b, g);
    }

    /**
     * Internal method to perform general calibration when G-dependent cross
     * biases are being estimated.
     *
     * @throws AlgebraException                         if accelerometer parameters prevent fixing
     *                                                  measured accelerometer values due to numerical instabilities.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateGeneralAndGDependentCrossBiases()
            throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException {

        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @return initial gyroscope scale factors and cross coupling errors
     * matrix.
     */
    public Matrix getInitialMg() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMg(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial gyroscope scale factors and cross coupling errors
     * matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMg(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial gyroscope scale factors and cross coupling errors matrix.
     *
     * @param initialMg initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMg(final Matrix initialMg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMg.getRows() != BodyKinematics.COMPONENTS ||
                initialMg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMg.getElementAtIndex(0);
        mInitialMyx = initialMg.getElementAtIndex(1);
        mInitialMzx = initialMg.getElementAtIndex(2);

        mInitialMxy = initialMg.getElementAtIndex(3);
        mInitialSy = initialMg.getElementAtIndex(4);
        mInitialMzy = initialMg.getElementAtIndex(5);

        mInitialMxz = initialMg.getElementAtIndex(6);
        mInitialMyz = initialMg.getElementAtIndex(7);
        mInitialSz = initialMg.getElementAtIndex(8);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing initial g-dependent cross biases.
     */
    public Matrix getInitialGg() {
        return new Matrix(mInitialGg);
    }

    /**
     * Gets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialGg(final Matrix result) {

        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        result.copyFrom(mInitialGg);
    }

    /**
     * Sets initial G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @param initialGg g-dependent cross biases.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void setInitialGg(final Matrix initialGg) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (initialGg.getRows() != BodyKinematics.COMPONENTS
                || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        initialGg.copyTo(mInitialGg);
    }

    /**
     * Gets constant rotation rate at which the turntable is spinning.
     * This is expressed in radians per second (rad/s).
     *
     * @return constant rotation rate of turntable.
     */
    public double getTurntableRotationRate() {

                initialPathLossExponent, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this solver is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than minimum required samples.
     * @throws LockedException if robust solver is locked because an
     * estimation is already in progress.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mReadings.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        PROSACRobustEstimator<Solution<Point3D>> innerEstimator =
                new PROSACRobustEstimator<>(
                        new PROSACRobustEstimatorListener<Solution<Point3D>>() {

                            @Override
                            public double[] getQualityScores() {
                                return mQualityScores;
                            }

                            @Override
                            public double getThreshold() {
                                return mThreshold;
                            }

                            @Override
                            public int getTotalSamples() {
                                return mReadings.size();
                            }

                            @Override
                            public int getSubsetSize() {
                                return Math.max(mPreliminarySubsetSize, getMinReadings());
                            }

                            @Override
                            public void estimatePreliminarSolutions(int[] samplesIndices,
                                                                    List<Solution<Point3D>> solutions) {
                                solvePreliminarSolutions(samplesIndices, solutions);
                            }

                            @Override
                            public double computeResidual(Solution<Point3D> currentEstimation, int i) {
                                return residual(currentEstimation, i);
                            }

                            @Override
                            public boolean isReady() {
                                return PROSACRobustRangingAndRssiRadioSourceEstimator3D.this.isReady();

    public BaseFingerprintPositionAndRadioSourceEstimator(
            List<? extends RssiFingerprintLocated<? extends RadioSource,
            ? extends RssiReading<? extends RadioSource>, P>> locatedFingerprints,
            RssiFingerprint<? extends RadioSource,
            ? extends RssiReading<? extends RadioSource>> fingerprint,
            L listener) {
        this(listener);
        internalSetLocatedFingerprints(locatedFingerprints);
        internalSetFingerprint(fingerprint);
    }

    /**
     * Gets located fingerprints containing RSSI readings.
     * @return located fingerprints containing RSSI readings.
     */
    public List<? extends RssiFingerprintLocated<? extends RadioSource,
            ? extends RssiReading<? extends RadioSource>, P>> getLocatedFingerprints() {
        return mLocatedFingerprints;
    }

    /**
     * Sets located fingerprints containing RSSI readings.
     * @param locatedFingerprints located fingerprints containing RSSI readings.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if provided value is null or there are not enough
     * fingerprints or readings within provided fingerprints (for 2D position estimation at
     * least 2 readings are required in a single fingerprint, or at least 2 fingerprints
     * at different locations containing a single reading are required. For 3D position
     * estimation 3 reading in a single fingerprint, or 3 fingerprints containing a single
     * reading or any combination resulting in at least 3 readings at different locations
     * are required).
     */
    public void setLocatedFingerprints(List<? extends RssiFingerprintLocated<? extends RadioSource,
            ? extends RssiReading<? extends RadioSource>, P>> locatedFingerprints)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }

        internalSetLocatedFingerprints(locatedFingerprints);
    }

    /**
     * Gets fingerprint containing readings at an unknown location for provided located
     * fingerprints.
     * @return fingerprint containing readings at an unknown location for provided located
     * fingerprints.
     */
    public RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>>
            getFingerprint() {
        return mFingerprint;
    }

    /**
     * Sets fingerprint containing readings at an unknown location for provided located fingerprints.
     * @param fingerprint fingerprint containing readings at an unknown location for provided located fingerprints.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if provided value is null.
     */
    public void setFingerprint(RssiFingerprint<? extends RadioSource,
            ? extends RssiReading<? extends RadioSource>> fingerprint)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }

        internalSetFingerprint(fingerprint);
    }

    /**
     * Get minimum number of nearest fingerprints to search.
     * @return minimum number of nearest fingerprints, -1 indicates to initially use
     * all fingerprints needed to estimate available radio sources.
     */
    public int getMinNearestFingerprints() {
        return mMinNearestFingerprints;
    }

    /**
     * Gets maximum number of nearest fingerprints to search.
     * @return maximum number of nearest fingerprints, -1 indicates to use all available
     * fingerprints.
     */
    public int getMaxNearestFingerprints() {
        return mMaxNearestFingerprints;
    }

    /**
     * Sets minimum and maximum number of nearest fingerprints to search.
     * If minimum value is -1, then the minimum required number of fingerprints needed
     * to estimate available radio sources is used.
     * If maximum value is -1, then the problem is attempted to be solved until all
     * available fingerprints are used.
     * @param minNearestFingerprints minimum number of nearest fingerprints or -1.
     * @param maxNearestFingerprints maximum number of nearest fingerprints or -1.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if minimum value is larger than maximum value (as
     * long as it has a limit defined), or if maximum value is not negative when
     * minimum one is less than 1, or if minimum value is zero.
     */
    public void setMinMaxNearestFingerprints(int minNearestFingerprints,
            int maxNearestFingerprints) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }

        internalSetMinMaxNearestFingerprints(minNearestFingerprints,
                maxNearestFingerprints);
    }

    /**
     * Gets path loss exponent to be used by default.
     * This is typically used on free space for path loss propagation in
     * terms of distance.
     * On different environments path loss exponent might have different values:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     * @return path loss exponent to be used by default.
     */
    public double getPathLossExponent() {
        return mPathLossExponent;
    }

    /**
     * Sets path loss exponent to be used by default.
     * This is typically used on free space for path loss propagation in
     * terms of distance.
     * On different environments path loss exponent might have different values:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     * @param pathLossExponent path loss exponent to be used by default.
     * @throws LockedException if estimator is locked.
     */
    public void setPathLossExponent(double pathLossExponent) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mPathLossExponent = pathLossExponent;
    }

    /**
     * Gets listener to be notified of events raised by this instance.
     * @return listener to be notified of events raised by this instance.
     */
    public L getListener() {
        return mListener;
    }

    /**
     * Sets listener to be notified of events raised by this instance.
     * @param listener listener to be notified of events raised by this instance.
     * @throws LockedException if estimator is locked.
     */
    public void setListener(L listener) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mListener = listener;
    }

    /**
     * Gets estimated inhomogeneous position coordinates.
     * @return estimated inhomogeneous position coordinates.
     */
    public double[] getEstimatedPositionCoordinates() {
        return mEstimatedPositionCoordinates;
    }

    /**
     * Gets estimated estimated position and stores result into provided instance.
     * @param estimatedPosition instance where estimated estimated position will be stored.
     */
    public void getEstimatedPosition(P estimatedPosition) {
        if (mEstimatedPositionCoordinates != null) {
            for (int i = 0; i < mEstimatedPositionCoordinates.length; i++) {
                estimatedPosition.setInhomogeneousCoordinate(i,
                        mEstimatedPositionCoordinates[i]);
            }
        }
    }

    /**
     * Gets estimated position or null if not available yet.
     * @return estimated position or null.
     */
    public P getEstimatedPosition() {

    public void setListener(final RobustKnownFrameAccelerometerCalibratorListener listener)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Indicates whether calibrator is ready to start.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    public boolean isReady() {
        return mMeasurements != null && mMeasurements.size() >= MINIMUM_MEASUREMENTS;
    }

    /**
     * Indicates whether calibrator is currently running or not.
     *
     * @return true if calibrator is running, false otherwise.
     */
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Indicates whether a linear calibrator is used or not for preliminary
     * solutions.
     *
     * @return indicates whether a linear calibrator is used or not for
     * preliminary solutions.
     */
    public boolean isLinearCalibratorUsed() {
        return mUseLinearCalibrator;
    }

    /**
     * Specifies whether a linear calibrator is used or not for preliminary
     * solutions.
     *
     * @param linearCalibratorUsed indicates whether a linear calibrator is used
     *                             or not for preliminary solutions.
     * @throws LockedException if calibrator is currently running.
     */
    public void setLinearCalibratorUsed(final boolean linearCalibratorUsed)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mUseLinearCalibrator = linearCalibratorUsed;
    }

    /**
     * Indicates whether preliminary solutions must be refined after an initial linear solution is found.
     * If no initial solution is found using a linear solver, a non linear solver will be
     * used regardless of this value using an average solution as the initial value to be
     * refined.
     *
     * @return true if preliminary solutions must be refined after an initial linear solution, false
     * otherwise.
     */
    public boolean isPreliminarySolutionRefined() {
        return mRefinePreliminarySolutions;
    }

    /**
     * Specifies whether preliminary solutions must be refined after an initial linear solution is found.
     * If no initial solution is found using a linear solver, a non linear solver will be
     * used regardless of this value using an average solution as the initial value to be
     * refined.
     *
     * @param preliminarySolutionRefined true if preliminary solutions must be refined after an
     *                                   initial linear solution, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPreliminarySolutionRefined(boolean preliminarySolutionRefined)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mRefinePreliminarySolutions = preliminarySolutionRefined;
    }

    /**
     * Returns amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @return amount of progress variation before notifying a progress change during
     * calibration.
     */
    public float getProgressDelta() {
        return mProgressDelta;
    }

    /**
     * Sets amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @param progressDelta amount of progress variation before notifying a progress
     *                      change during calibration.
     * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setProgressDelta(float progressDelta) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (progressDelta < MIN_PROGRESS_DELTA ||
                progressDelta > MAX_PROGRESS_DELTA) {
            throw new IllegalArgumentException();
        }
        mProgressDelta = progressDelta;
    }

    /**
     * Returns amount of confidence expressed as a value between 0.0 and 1.0
     * (which is equivalent to 100%). The amount of confidence indicates the probability
     * that the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @return amount of confidence as a value between 0.0 and 1.0.
     */
    public double getConfidence() {
        return mConfidence;
    }

    /**
     * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
     * equivalent to 100%). The amount of confidence indicates the probability that
     * the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @param confidence confidence to be set as a value between 0.0 and 1.0.
     * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setConfidence(double confidence) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
            throw new IllegalArgumentException();
        }
        mConfidence = confidence;
    }

    /**
     * Returns maximum allowed number of iterations. If maximum allowed number of
     * iterations is achieved without converging to a result when calling calibrate(),
     * a RobustEstimatorException will be raised.
     *
     * @return maximum allowed number of iterations.
     */
    public int getMaxIterations() {
        return mMaxIterations;
    }

    /**
     * Sets maximum allowed number of iterations. When the maximum number of iterations
     * is exceeded, result will not be available, however an approximate result will be
     * available for retrieval.
     *
     * @param maxIterations maximum allowed number of iterations to be set.
     * @throws IllegalArgumentException if provided value is less than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setMaxIterations(int maxIterations) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (maxIterations < MIN_ITERATIONS) {
            throw new IllegalArgumentException();
        }
        mMaxIterations = maxIterations;
    }

    /**
     * Gets data related to inliers found after estimation.
     *
     * @return data related to inliers found after estimation.
     */
    public InliersData getInliersData() {
        return mInliersData;
    }

    /**
     * Indicates whether result must be refined using a non-linear solver over found inliers.
     *
     * @return true to refine result, false to simply use result found by robust estimator
     * without further refining.
     */
    public boolean isResultRefined() {
        return mRefineResult;
    }

    /**
     * Specifies whether result must be refined using a non-linear solver over found inliers.
     *
     * @param refineResult true to refine result, false to simply use result found by robust
     *                     estimator without further refining.
     * @throws LockedException if calibrator is currently running.
     */
    public void setResultRefined(boolean refineResult) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mRefineResult = refineResult;
    }

    /**
     * Indicates whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @return true if covariance must be kept after refining result, false otherwise.
     */
    public boolean isCovarianceKept() {
        return mKeepCovariance;
    }

    /**
     * Specifies whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @param keepCovariance true if covariance must be kept after refining result,
     *                       false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCovarianceKept(boolean keepCovariance) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mKeepCovariance = keepCovariance;
    }

    /**
     * Returns quality scores corresponding to each measurement.
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    public double[] getQualityScores() {
        return null;
    }

    /**
     * Sets quality scores corresponding to each measurement.
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
    }

    /**
     * Gets array containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @return array containing x,y,z components of estimated accelerometer biases.
     */
    public double[] getEstimatedBiases() {
        return mEstimatedBiases;
    }

    /**
     * Gets array containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @param result instance where estimated accelerometer biases will be stored.
     * @return true if result instance was updated, false otherwise (when estimation
     * is not yet available).
     */
    public boolean getEstimatedBiases(final double[] result) {

        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    @Override
    public Matrix getInitialMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    @Override
    public void getInitialMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMa initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setInitialMa(final Matrix initialMa) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMa.getRows() != BodyKinematics.COMPONENTS ||
                initialMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMa.getElementAtIndex(0);
        mInitialMyx = initialMa.getElementAtIndex(1);
        mInitialMzx = initialMa.getElementAtIndex(2);

        mInitialMxy = initialMa.getElementAtIndex(3);
        mInitialSy = initialMa.getElementAtIndex(4);
        mInitialMzy = initialMa.getElementAtIndex(5);

        mInitialMxz = initialMa.getElementAtIndex(6);
        mInitialMyz = initialMa.getElementAtIndex(7);
        mInitialSz = initialMa.getElementAtIndex(8);
    }

    /**
     * Gets a collection of body kinematics measurements taken at different
     * frames (positions, orientations and velocities) and containing the standard
     * deviations of accelerometer and gyroscope measurements.
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @return a collection of body kinematics measurements taken at different
     * frames (positions, orientations and velocities).
     */
    @Override
    public Collection<? extends StandardDeviationFrameBodyKinematics> getMeasurements() {
        return mMeasurements;
    }

    /**
     * Sets a collection of body kinematics measurements taken at different
     * frames (positions, orientations and velocities) and containing the standard
     * deviations of accelerometer and gyroscope measurements.
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @param measurements collection of body kinematics measurements taken at different
     *                     frames (positions, orientations and velocities).
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setMeasurements(
            final Collection<? extends StandardDeviationFrameBodyKinematics> measurements)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMeasurements = measurements;
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer and gyroscope,
     * false otherwise.
     */
    @Override
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
     *                       and gyroscope, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Gets listener to handle events raised by this estimator.
     *
     * @return listener to handle events raised by this estimator.
     */
    @Override
    public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener getListener() {

        mInitialHardIronZ = initialHardIron.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    @Override
    public Matrix getInitialMm() {
        Matrix result;
        try {
            result = new Matrix(BodyMagneticFluxDensity.COMPONENTS,
                    BodyMagneticFluxDensity.COMPONENTS);
            getInitialMm(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    @Override
    public void getInitialMm(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMm initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setInitialMm(final Matrix initialMm)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMm.getRows() != BodyKinematics.COMPONENTS ||
                initialMm.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMm.getElementAtIndex(0);
        mInitialMyx = initialMm.getElementAtIndex(1);
        mInitialMzx = initialMm.getElementAtIndex(2);

        mInitialMxy = initialMm.getElementAtIndex(3);
        mInitialSy = initialMm.getElementAtIndex(4);
        mInitialMzy = initialMm.getElementAtIndex(5);

        mInitialMxz = initialMm.getElementAtIndex(6);
        mInitialMyz = initialMm.getElementAtIndex(7);
        mInitialSz = initialMm.getElementAtIndex(8);
    }

    /**
     * Gets a collection of body magnetic flux density measurements taken at different
     * frames (positions, orientations and velocities).
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @return a collection of body magnetic flux density measurements taken at different
     * frames (positions, orientations and velocities).
     */
    @Override
    public Collection<? extends StandardDeviationFrameBodyMagneticFluxDensity> getMeasurements() {
        return mMeasurements;
    }

    /**
     * Sets a collection of body magnetic flux density measurements taken at different
     * frames (positions, orientations and velocities).
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @param measurements collection of body magnetic flux density measurements
     *                     taken at different frames (positions, orientations
     *                     and velocities).
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setMeasurements(
            final Collection<? extends StandardDeviationFrameBodyMagneticFluxDensity> measurements)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMeasurements = measurements;
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer,
     * gyroscope and magnetometer.
     * When enabled, this eliminates 3 variables from Mm (soft-iron) matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer,
     * gyroscope and magnetometer, false otherwise.
     */
    @Override
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Mm matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for
     *                       accelerometer, gyroscope and magnetometer, false
     *                       otherwise.
     * @throws LockedException if estimator is currently running.
     */
    @Override
    public void setCommonAxisUsed(final boolean commonAxisUsed)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Gets listener to handle events raised by this calibrator.
     *
     * @return listener to handle events raised by this calibrator.
     */
    @Override
    public KnownFrameMagnetometerNonLinearLeastSquaresCalibratorListener getListener() {

    }

    /**
     * Gets array containing x,y,z components of estimated magnetometer
     * hard-iron biases expressed in Teslas (T).
     *
     * @return array containing x,y,z components of estimated magnetometer
     * hard-iron biases.
     */
    public double[] getEstimatedHardIron() {
        return mEstimatedHardIron;
    }

    /**
     * Gets array containing x,y,z components of estimated magnetometer
     * hard-iron biases expressed in Teslas (T).
     *
     * @param result instance where estimated magnetometer biases will be
     *               stored.
     * @return true if result instance was updated, false otherwise (when
     * estimation is not yet available).
     */
    public boolean getEstimatedHardIron(final double[] result) {
        if (mEstimatedHardIron != null) {
            System.arraycopy(mEstimatedHardIron, 0, result,
                    0, mEstimatedHardIron.length);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets column matrix containing x,y,z components of estimated
     * magnetometer hard-iron biases expressed in Teslas (T).
     *
     * @return column matrix containing x,y,z components of estimated
     * magnetometer hard-iron biases.
     */
    public Matrix getEstimatedHardIronAsMatrix() {
        return mEstimatedHardIron != null ? Matrix.newFromArray(mEstimatedHardIron) : null;
    }

    /**
     * Gets column matrix containing x,y,z components of estimated
     * magnetometer hard-iron biases expressed in Teslas (T).
     *
     * @param result instance where result data will be stored.
     * @return true if result was updated, false otherwise.
     * @throws WrongSizeException if provided result instance has invalid size.
     */
    public boolean getEstimatedHardIronAsMatrix(final Matrix result)
            throws WrongSizeException {
        if (mEstimatedHardIron != null) {
            result.fromArray(mEstimatedHardIron);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets x coordinate of estimated magnetometer bias expressed in
     * Teslas (T).
     *
     * @return x coordinate of estimated magnetometer bias or null if not
     * available.
     */
    public Double getEstimatedHardIronX() {
        return mEstimatedHardIron != null ? mEstimatedHardIron[0] : null;
    }

    /**
     * Gets y coordinate of estimated magnetometer bias expressed in
     * Teslas (T).
     *
     * @return y coordinate of estimated magnetometer bias or null if not
     * available.
     */
    public Double getEstimatedHardIronY() {
        return mEstimatedHardIron != null ? mEstimatedHardIron[1] : null;
    }

    /**
     * Gets z coordinate of estimated magnetometer bias expressed in
     * Teslas (T).
     *
     * @return z coordinate of estimated magnetometer bias or null if not
     * available.
     */
    public Double getEstimatedHardIronZ() {
        return mEstimatedHardIron != null ? mEstimatedHardIron[2] : null;
    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    public Matrix getEstimatedMm() {
        return mEstimatedMm;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated covariance matrix for estimated position.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {

            final RobustKnownFrameAccelerometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether calibrator is ready to find a solution.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROSACRobustEstimator<PreliminaryResult> innerEstimator =
                new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROSACRobustKnownFrameAccelerometerCalibrator.this.isReady();

                estimateGDependentCrossBiases, initialBias, initialMg,
                initialGg, accelerometerBias, accelerometerMa, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each provided sequence.
     * The larger the score value the better the quality of the sequence.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sequence.
     * The larger the score value the better the quality of the sequence.
     *
     * @param qualityScores quality scores corresponding to each sequence.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether calibrator is ready to find a solution.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mSequences.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates gyroscope calibration parameters containing bias, scale factors,
     * cross-coupling errors and G-dependent coupling.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROSACRobustEstimator<PreliminaryResult> innerEstimator =
                new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mSequences.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(
                            final int[] samplesIndices, final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(
                            final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mSequences.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROSACRobustEasyGyroscopeCalibrator.this.isReady();

                commonAxisUsed, estimateGDependentCrossBiases, bias,
                initialMg, initialGg, accelerometerBias, accelerometerMa,
                listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether calibrator is ready to find a solution.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates gyroscope calibration parameters containing scale factors
     * cross-coupling errors and g-dependant cross biases.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROSACRobustEstimator<PreliminaryResult> innerEstimator =
                new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(
                            final int[] samplesIndices, final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(
                            final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROSACRobustKnownBiasTurntableGyroscopeCalibrator.this.isReady();

        super(position, measurements, commonAxisUsed, bias, initialMa, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples
     *                                  (10 or 13).
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether calibrator is ready to find a solution.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        mGravityNorm = computeGravityNorm();

        final PROSACRobustEstimator<PreliminaryResult> innerEstimator =
                new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROSACRobustKnownBiasAndPositionAccelerometerCalibrator.this.isReady();

    public static MultivariateNormalDist propagateVariancesToRssiVarianceFirstOrderNonLinear2D(
            final double fingerprintRssi, final double pathLossExponent,
            Point2D fingerprintPosition, Point2D radioSourcePosition,
            Point2D estimatedPosition,
            Double fingerprintRssiVariance,
            Double pathLossExponentVariance,
            Matrix fingerprintPositionCovariance,
            Matrix radioSourcePositionCovariance,
            Matrix estimatedPositionCovariance) throws IndoorException {

        if (fingerprintPosition == null || radioSourcePosition == null ||
                estimatedPosition == null) {
            return null;
        }

        //1st order Taylor expression of received power in 2D:
        //Pr(pi) = Pr(p1)
        //  - 10*n*(x1 - xa)/(ln(10)*d1a^2)*(xi - x1)
        //  - 10*n*(y1 - ya)/(ln(10)*d1a^2)*(yi - y1)
        //where d1a^2 = (x1 - xa)^2 + (y1 - ya)^2

        final double x1 = fingerprintPosition.getInhomX();
        final double y1 = fingerprintPosition.getInhomY();

        final double xa = radioSourcePosition.getInhomX();
        final double ya = radioSourcePosition.getInhomY();

        final double xi = estimatedPosition.getInhomX();
        final double yi = estimatedPosition.getInhomY();

        double[] mean = new double[] {
                fingerprintRssi, pathLossExponent, x1, y1, xa, ya, xi, yi
        };
        Matrix covariance = Matrix.diagonal(new double[]{
                fingerprintRssiVariance != null ? fingerprintRssiVariance : 0.0,
                pathLossExponentVariance != null ? pathLossExponentVariance : 0.0,
                0.0, 0.0, 0.0, 0.0, 0.0, 0.0
        });

        if (fingerprintPositionCovariance != null &&
                fingerprintPositionCovariance.getRows() == Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH &&
                fingerprintPositionCovariance.getColumns() == Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH) {

            covariance.setSubmatrix(2, 2,
                    3, 3,
                    fingerprintPositionCovariance);
        }

        if (radioSourcePositionCovariance != null &&
                radioSourcePositionCovariance.getRows() == Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH &&
                radioSourcePositionCovariance.getColumns() == Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH) {
            covariance.setSubmatrix(4, 4,
                    5, 5,
                    radioSourcePositionCovariance);
        }

        if (estimatedPositionCovariance != null &&
                estimatedPositionCovariance.getRows() == Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH &&
                estimatedPositionCovariance.getColumns() == Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH) {
            covariance.setSubmatrix(6, 6,
                    7, 7,
                    estimatedPositionCovariance);
        }

        try {
            return MultivariateNormalDist.propagate(new MultivariateNormalDist.JacobianEvaluator() {
                @Override
                public void evaluate(double[] x, double[] y, Matrix jacobian) {

                    //Pr(pi) = Pr(p1)
                    //  - 10*n*(x1 - xa)/(ln(10)*d1a^2)*(xi - x1)
                    //  - 10*n*(y1 - ya)/(ln(10)*d1a^2)*(yi - y1)
                    //where d1a^2 = (x1 - xa)^2 + (y1 - ya)^2

                    //Hence:
                    //Pr(pi) = Pr(p1) -10*n*((x1 - xa)*(xi - x1) + (y1 - ya)*(yi - y1))/
                    //      (ln(10)*((x1 - xa)^2 + (y1 - ya)^2))

                    double diffX1a = x1 - xa;
                    double diffY1a = y1 - ya;

                    double diffXi1 = xi - x1;
                    double diffYi1 = yi - y1;

                    double diffX1a2 = diffX1a * diffX1a;
                    double diffY1a2 = diffY1a * diffY1a;

                    double d1a2 = diffX1a2 + diffY1a2;

        super(measurements, commonAxisUsed, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether calibrator is ready to find a solution.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROSACRobustEstimator<PreliminaryResult> innerEstimator =
                new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROSACRobustKnownFrameAccelerometerCalibrator.this.isReady();

    public void setListener(final RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Indicates whether calibrator is ready to start.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    public boolean isReady() {
        return mMeasurements != null && mMeasurements.size() >= MINIMUM_MEASUREMENTS;
    }

    /**
     * Indicates whether calibrator is currently running or not.
     *
     * @return true if calibrator is running, false otherwise.
     */
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Indicates whether a linear calibrator is used or not for preliminary
     * solutions.
     *
     * @return indicates whether a linear calibrator is used or not for
     * preliminary solutions.
     */
    public boolean isLinearCalibratorUsed() {
        return mUseLinearCalibrator;
    }

    /**
     * Sepecifies whether a linear calibrator is used or not for preliminary
     * solutions.
     *
     * @param linearCalibratorUsed indicates whether a linear calibrator is used
     *                             or not for preliminary solutions.
     * @throws LockedException if calibrator is currently running.
     */
    public void setLinearCalibratorUsed(final boolean linearCalibratorUsed)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mUseLinearCalibrator = linearCalibratorUsed;
    }

    /**
     * Indicates whether preliminary solutions must be refined after an initial linear solution is found.
     * If no initial solution is found using a linear solver, a non linear solver will be
     * used regardless of this value using an average solution as the initial value to be
     * refined.
     *
     * @return true if preliminary solutions must be refined after an initial linear solution, false
     * otherwise.
     */
    public boolean isPreliminarySolutionRefined() {
        return mRefinePreliminarySolutions;
    }

    /**
     * Specifies whether preliminary solutions must be refined after an initial linear solution is found.
     * If no initial solution is found using a linear solver, a non linear solver will be
     * used regardless of this value using an average solution as the initial value to be
     * refined.
     *
     * @param preliminarySolutionRefined true if preliminary solutions must be refined after an
     *                                   initial linear solution, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPreliminarySolutionRefined(boolean preliminarySolutionRefined)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mRefinePreliminarySolutions = preliminarySolutionRefined;
    }

    /**
     * Returns amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @return amount of progress variation before notifying a progress change during
     * calibration.
     */
    public float getProgressDelta() {
        return mProgressDelta;
    }

    /**
     * Sets amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @param progressDelta amount of progress variation before notifying a progress
     *                      change during calibration.
     * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setProgressDelta(float progressDelta) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (progressDelta < MIN_PROGRESS_DELTA ||
                progressDelta > MAX_PROGRESS_DELTA) {
            throw new IllegalArgumentException();
        }
        mProgressDelta = progressDelta;
    }

    /**
     * Returns amount of confidence expressed as a value between 0.0 and 1.0
     * (which is equivalent to 100%). The amount of confidence indicates the probability
     * that the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @return amount of confidence as a value between 0.0 and 1.0.
     */
    public double getConfidence() {
        return mConfidence;
    }

    /**
     * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
     * equivalent to 100%). The amount of confidence indicates the probability that
     * the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @param confidence confidence to be set as a value between 0.0 and 1.0.
     * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setConfidence(double confidence) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
            throw new IllegalArgumentException();
        }
        mConfidence = confidence;
    }

    /**
     * Returns maximum allowed number of iterations. If maximum allowed number of
     * iterations is achieved without converging to a result when calling calibrate(),
     * a RobustEstimatorException will be raised.
     *
     * @return maximum allowed number of iterations.
     */
    public int getMaxIterations() {
        return mMaxIterations;
    }

    /**
     * Sets maximum allowed number of iterations. When the maximum number of iterations
     * is exceeded, result will not be available, however an approximate result will be
     * available for retrieval.
     *
     * @param maxIterations maximum allowed number of iterations to be set.
     * @throws IllegalArgumentException if provided value is less than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setMaxIterations(int maxIterations) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (maxIterations < MIN_ITERATIONS) {
            throw new IllegalArgumentException();
        }
        mMaxIterations = maxIterations;
    }

    /**
     * Gets data related to inliers found after estimation.
     *
     * @return data related to inliers found after estimation.
     */
    public InliersData getInliersData() {
        return mInliersData;
    }

    /**
     * Indicates whether result must be refined using a non-linear solver over found inliers.
     *
     * @return true to refine result, false to simply use result found by robust estimator
     * without further refining.
     */
    public boolean isResultRefined() {
        return mRefineResult;
    }

    /**
     * Specifies whether result must be refined using a non-linear solver over found inliers.
     *
     * @param refineResult true to refine result, false to simply use result found by robust
     *                     estimator without further refining.
     * @throws LockedException if calibrator is currently running.
     */
    public void setResultRefined(boolean refineResult) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mRefineResult = refineResult;
    }

    /**
     * Indicates whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @return true if covariance must be kept after refining result, false otherwise.
     */
    public boolean isCovarianceKept() {
        return mKeepCovariance;
    }

    /**
     * Specifies whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @param keepCovariance true if covariance must be kept after refining result,
     *                       false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCovarianceKept(boolean keepCovariance) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mKeepCovariance = keepCovariance;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    public double[] getQualityScores() {
        return null;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMa() {

        Point2D initialPosition = result.getEstimatedPosition();
        double initialTransmittedPowerdBm =
                result.getEstimatedTransmittedPowerdBm();
        double initialPathLossExponent = result.getEstimatedPathLossExponent();

        if (mRefineResult && mInliersData != null) {
            BitSet inliers = mInliersData.getInliers();
            int nSamples = mReadings.size();

            mInnerReadings.clear();

            for (int i = 0; i < nSamples; i++) {
                if (inliers.get(i)) {
                    //sample is inlier
                    mInnerReadings.add(mReadings.get(i));
                }
            }

            try {
                mInnerEstimator.setInitialPosition(initialPosition);
                mInnerEstimator.setInitialTransmittedPowerdBm(initialTransmittedPowerdBm);
                mInnerEstimator.setInitialPathLossExponent(initialPathLossExponent);
                mInnerEstimator.setTransmittedPowerEstimationEnabled(mTransmittedPowerEstimationEnabled);
                mInnerEstimator.setPositionEstimationEnabled(mPositionEstimationEnabled);
                mInnerEstimator.setPathLossEstimationEnabled(mPathLossEstimationEnabled);
                mInnerEstimator.setReadings(mInnerReadings);

                mInnerEstimator.estimate();

                Matrix cov = mInnerEstimator.getEstimatedCovariance();
                if (mKeepCovariance && cov != null) {
                    //keep covariance
                    mCovariance = cov;

                    int dims = getNumberOfDimensions();
                    int pos = 0;
                    if (mPositionEstimationEnabled) {
                        //position estimation enabled
                        int d = dims -1;
                        if (mEstimatedPositionCovariance == null) {
                            mEstimatedPositionCovariance = mCovariance.
                                    getSubmatrix(0, 0, d, d);
                        } else {
                            mCovariance.getSubmatrix(0, 0, d, d,
                                    mEstimatedPositionCovariance);
                        }
                        pos += dims;
                    } else {
                        //position estimation disabled
                        mEstimatedPositionCovariance = null;
                    }

                    if (mTransmittedPowerEstimationEnabled) {
                        //transmitted power estimation enabled
                        mEstimatedTransmittedPowerVariance = mCovariance.
                                getElementAt(pos, pos);
                        pos++;
                    } else {
                        //transmitted power estimation disabled
                        mEstimatedTransmittedPowerVariance = null;
                    }

                    if (mPathLossEstimationEnabled) {
                        //pathloss exponent estimation enabled
                        mEstimatedPathLossExponentVariance = mCovariance.
                                getElementAt(pos, pos);
                    } else {
                        //pathloss exponent estimation disabled
                        mEstimatedPathLossExponentVariance = null;
                    }
                } else {
                    mCovariance = null;
                    mEstimatedPositionCovariance = null;
                    mEstimatedTransmittedPowerVariance = null;
                    mEstimatedPathLossExponentVariance = null;
                }

                mEstimatedPosition = mInnerEstimator.getEstimatedPosition();
                mEstimatedTransmittedPowerdBm =
                        mInnerEstimator.getEstimatedTransmittedPowerdBm();
                mEstimatedPathLossExponent =
                        mInnerEstimator.getEstimatedPathLossExponent();
            } catch (Exception e) {
                //refinement failed, so we return input value, and covariance
                //becomes unavailable
                mCovariance = null;
                mEstimatedPositionCovariance = null;
                mEstimatedTransmittedPowerVariance = null;
                mEstimatedPathLossExponentVariance = null;

                mEstimatedPosition = initialPosition;
                mEstimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
                mEstimatedPathLossExponent = initialPathLossExponent;
            }
        } else {
            mCovariance = null;
            mEstimatedPositionCovariance = null;
            mEstimatedTransmittedPowerVariance = null;
            mEstimatedPathLossExponentVariance = null;

            mEstimatedPosition = initialPosition;
            mEstimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
            mEstimatedPathLossExponent = initialPathLossExponent;
        }
    }
}

        setInputData();

        mFitter.fit();

        final double[] result = mFitter.getA();

        final double m11 = result[0];
        final double m21 = result[1];
        final double m31 = result[2];

        final double m12 = result[3];
        final double m22 = result[4];
        final double m32 = result[5];

        final double m13 = result[6];
        final double m23 = result[7];
        final double m33 = result[8];

        final double g11 = result[9];
        final double g21 = result[10];
        final double g31 = result[11];

        final double g12 = result[12];
        final double g22 = result[13];
        final double g32 = result[14];

        final double g13 = result[15];
        final double g23 = result[16];
        final double g33 = result[17];

        final Matrix m = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        m.setElementAtIndex(0, m11);
        m.setElementAtIndex(1, m21);
        m.setElementAtIndex(2, m31);

        m.setElementAtIndex(3, m12);
        m.setElementAtIndex(4, m22);
        m.setElementAtIndex(5, m32);

        m.setElementAtIndex(6, m13);
        m.setElementAtIndex(7, m23);
        m.setElementAtIndex(8, m33);

        final Matrix g = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        g.setElementAtIndex(0, g11);
        g.setElementAtIndex(1, g21);
        g.setElementAtIndex(2, g31);

        g.setElementAtIndex(3, g12);
        g.setElementAtIndex(4, g22);
        g.setElementAtIndex(5, g32);

        g.setElementAtIndex(6, g13);
        g.setElementAtIndex(7, g23);
        g.setElementAtIndex(8, g33);

        setResult(m, g);
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed
     * for both the accelerometer and gyroscope and G-dependent cross biases
     * are ignored.
     *
     * @throws AlgebraException                         if accelerometer parameters prevent fixing
     *                                                  measured accelerometer values due to numerical instabilities.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateCommonAxis() throws AlgebraException,
            FittingException,
            com.irurueta.numerical.NotReadyException {

            return false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {
        return mEstimatedChiSq;
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed
     * for both the accelerometer and gyroscope and when G-dependent cross
     * biases are being estimated.
     *
     * @throws AlgebraException                         if accelerometer parameters prevent fixing
     *                                                  measured accelerometer values due to numerical instabilities.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateCommonAxisAndGDependentCrossBiases()
            throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException {
        // The gyroscope model is
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue

        // Where Mg is upper triangular

        // For convergence purposes of the Levenberg-Marquardt algorithm, we
        // take common factor M = I + Mg

        // and the gyroscope model can be better expressed as:

        // Ωmeas = M*(Ωtrue + b + G * ftrue)

        // where:
        // bg = M*b --> b = M^-1*bg
        // Gg = M*G --> G = M^-1*Gg

        // Hence
        // Ωmeas - M*b - M*G*ftrue = M*Ωtrue
        // M^-1 * (Ωmeas - M*b - M*G*ftrue) = Ωtrue

        // Notice that M is upper diagonal because Mg is upper diagonal
        // when common axis is assumed

        final GradientEstimator gradientEstimator = new GradientEstimator(
                new MultiDimensionFunctionEvaluatorListener() {
                    @Override
                    public double evaluate(final double[] params)
                            throws EvaluationException {
                        return evaluateCommonAxisWithGDependentCrossBiases(mI, params);
                    }
                });

        final Matrix initialM = Matrix.identity(
                BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
        initialM.add(getInitialMg());

        // Force initial M to be upper diagonal
        initialM.setElementAt(1, 0, 0.0);
        initialM.setElementAt(2, 0, 0.0);
        initialM.setElementAt(2, 1, 0.0);

        final Matrix invInitialM = Utils.inverse(initialM);
        final Matrix initialBg = getInitialBiasAsMatrix();

                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     * This is only taken into account if non-linear preliminary solutions are used.
     *
     * @param initialMa initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMa(final Matrix initialMa) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMa.getRows() != BodyKinematics.COMPONENTS ||
                initialMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMa.getElementAtIndex(0);
        mInitialMyx = initialMa.getElementAtIndex(1);
        mInitialMzx = initialMa.getElementAtIndex(2);

        mInitialMxy = initialMa.getElementAtIndex(3);
        mInitialSy = initialMa.getElementAtIndex(4);
        mInitialMzy = initialMa.getElementAtIndex(5);

        mInitialMxz = initialMa.getElementAtIndex(6);
        mInitialMyz = initialMa.getElementAtIndex(7);
        mInitialSz = initialMa.getElementAtIndex(8);
    }

    /**
     * Gets a list of body kinematics measurements taken at different
     * frames (positions, orientations and velocities) and containing the standard
     * deviations of accelerometer and gyroscope measurements.
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @return a collection of body kinematics measurements taken at different
     * frames (positions, orientations and velocities).
     */
    public List<StandardDeviationFrameBodyKinematics> getMeasurements() {
        return mMeasurements;
    }

    /**
     * Sets a list of body kinematics measurements taken at different
     * frames (positions, orientations and velocities) and containing the standard
     * deviations of accelerometer and gyroscope measurements.
     * If a single device IMU needs to be calibrated, typically all measurements are
     * taken at the same position, with zero velocity and multiple orientations.
     * However, if we just want to calibrate the a given IMU model (e.g. obtain
     * an average and less precise calibration for the IMU of a given phone model),
     * we could take measurements collected throughout the planet at multiple positions
     * while the phone remains static (e.g. while charging), hence each measurement
     * position will change, velocity will remain zero and orientation will be
     * typically constant at horizontal orientation while the phone remains on a
     * flat surface.
     *
     * @param measurements collection of body kinematics measurements taken at different
     *                     frames (positions, orientations and velocities).
     * @throws LockedException if calibrator is currently running.
     */
    public void setMeasurements(
            final List<StandardDeviationFrameBodyKinematics> measurements)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMeasurements = measurements;
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer and gyroscope,
     * false otherwise.
     */
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
     *                       and gyroscope, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Gets listener to handle events raised by this estimator.
     *
     * @return listener to handle events raised by this estimator.
     */
    public RobustKnownBiasAndFrameAccelerometerCalibratorListener getListener() {

        Point2D initialPosition = result.getEstimatedPosition();
        double initialTransmittedPowerdBm =
                result.getEstimatedTransmittedPowerdBm();
        double initialPathLossExponent = result.getEstimatedPathLossExponent();

        if (mRefineResult && mInliersData != null) {
            BitSet inliers = mInliersData.getInliers();
            int nSamples = mReadings.size();

            mInnerReadings.clear();

            for (int i = 0; i < nSamples; i++) {
                if (inliers.get(i)) {
                    //sample is inlier
                    mInnerReadings.add(mReadings.get(i));
                }
            }

            try {
                mInnerEstimator.setInitialPosition(initialPosition);
                mInnerEstimator.setInitialTransmittedPowerdBm(initialTransmittedPowerdBm);
                mInnerEstimator.setInitialPathLossExponent(initialPathLossExponent);
                mInnerEstimator.setTransmittedPowerEstimationEnabled(
                        mTransmittedPowerEstimationEnabled);
                mInnerEstimator.setPathLossEstimationEnabled(
                        mPathLossEstimationEnabled);
                mInnerEstimator.setReadings(mInnerReadings);
                mInnerEstimator.setUseReadingPositionCovariances(
                        mUseReadingPositionCovariances);

                mInnerEstimator.estimate();

                Matrix cov = mInnerEstimator.getEstimatedCovariance();
                if (mKeepCovariance && cov != null) {
                    //keep covariance
                    mCovariance = cov;

                    int dims = getNumberOfDimensions();
                    int pos = 0;

                    int d = dims -1;
                    if (mEstimatedPositionCovariance == null) {
                        mEstimatedPositionCovariance = mCovariance.
                                getSubmatrix(0, 0, d, d);
                    } else {
                        mCovariance.getSubmatrix(0, 0, d, d,
                                mEstimatedPositionCovariance);
                    }
                    pos += dims;

                    if (mTransmittedPowerEstimationEnabled) {
                        //transmitted power estimation enabled
                        mEstimatedTransmittedPowerVariance = mCovariance.
                                getElementAt(pos, pos);
                        pos++;
                    } else {
                        //transmitted power estimation disabled
                        mEstimatedTransmittedPowerVariance = null;
                    }

                    if (mPathLossEstimationEnabled) {
                        //pathloss exponent estimation enabled
                        mEstimatedPathLossExponentVariance = mCovariance.
                                getElementAt(pos, pos);
                    } else {
                        //pathloss exponent estimation disabled
                        mEstimatedPathLossExponentVariance = null;
                    }
                } else {
                    mCovariance = null;
                    mEstimatedPositionCovariance = null;
                    mEstimatedTransmittedPowerVariance = null;
                    mEstimatedPathLossExponentVariance = null;
                }

                mEstimatedPosition = mInnerEstimator.getEstimatedPosition();
                mEstimatedTransmittedPowerdBm =
                        mInnerEstimator.getEstimatedTransmittedPowerdBm();
                mEstimatedPathLossExponent =
                        mInnerEstimator.getEstimatedPathLossExponent();
            } catch (Exception e) {
                //refinement failed, so we return input value, and covariance
                //becomes unavailable
                mCovariance = null;
                mEstimatedPositionCovariance = null;
                mEstimatedTransmittedPowerVariance = null;
                mEstimatedPathLossExponentVariance = null;

                mEstimatedPosition = initialPosition;
                mEstimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
                mEstimatedPathLossExponent = initialPathLossExponent;
            }
        } else {
            mCovariance = null;
            mEstimatedPositionCovariance = null;
            mEstimatedTransmittedPowerVariance = null;
            mEstimatedPathLossExponentVariance = null;

            mEstimatedPosition = initialPosition;
            mEstimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
            mEstimatedPathLossExponent = initialPathLossExponent;
        }
    }
}

            MixedRadioSourceEstimatorListener<S, P> listener) {
        this(readings, initialPosition, initialTransmittedPowerdBm, listener);
        mInitialPathLossExponent = initialPathLossExponent;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPowerdBm() {
        return mInitialTransmittedPowerdBm;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @param initialTransmittedPowerdBm initial transmitted power to start the
     *                                   estimation of radio source transmitted
     *                                   power.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialTransmittedPowerdBm(Double initialTransmittedPowerdBm)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialTransmittedPowerdBm = initialTransmittedPowerdBm;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPower() {
        return mInitialTransmittedPowerdBm != null ?
                Utils.dBmToPower(mInitialTransmittedPowerdBm) : null;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @param initialTransmittedPower initial transmitted power to start the
     *                                estimation of radio source transmitted power.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setInitialTransmittedPower(Double initialTransmittedPower)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (initialTransmittedPower != null) {
            if (initialTransmittedPower < 0.0) {
                throw new IllegalArgumentException();
            }
            mInitialTransmittedPowerdBm = Utils.powerTodBm(
                    initialTransmittedPower);
        } else {
            mInitialTransmittedPowerdBm = null;
        }
    }

    /**
     * Indicates whether transmitted power estimation is enabled or not.
     * @return true if transmitted power estimation is enabled, false otherwise.
     */
    public boolean isTransmittedPowerEstimationEnabled() {
        return mTransmittedPowerEstimationEnabled;
    }

    /**
     * Specifies whether transmitted power estimation is enabled or not.
     * @param transmittedPowerEstimationEnabled true if transmitted power estimation is enabled,
     *                                          false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setTransmittedPowerEstimationEnabled(boolean transmittedPowerEstimationEnabled)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mTransmittedPowerEstimationEnabled = transmittedPowerEstimationEnabled;
    }

    /**
     * Gets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided readings will be used.
     *
     * If position estimation is enabled, estimation will start at this value
     * and will converge to the most appropriate value.
     * If position estimation is disabled, this value will be assumed to
     * be exact and the estimated position will be equal to this value.
     * @return initial position to start the estimation of radio source position.
     */
    public P getInitialPosition() {
        return mInitialPosition;
    }

    /**
     * Sets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     *
     * If position estimation is enabled, estimation will start at this value
     * and will converge to the most appropriate value.
     * If position estimation is disabled, this value will be assumed to
     * be exact and the estimated position will be equal to this value.
     * @param initialPosition initial position to start the estimation of radio
     *                        source position.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPosition(P initialPosition) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPosition = initialPosition;
    }

    /**
     * Gets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     * @return initial path loss exponent.
     */
    public double getInitialPathLossExponent() {
        return mInitialPathLossExponent;
    }

    /**
     * Sets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     * @param initialPathLossExponent initial path loss exponent.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPathLossExponent(double initialPathLossExponent)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPathLossExponent = initialPathLossExponent;
    }

    /**
     * Indicates whether path loss estimation is enabled or not.
     * @return true if path loss estimation is enabled, false otherwise.
     */
    public boolean isPathLossEstimationEnabled() {
        return mPathLossEstimationEnabled;
    }

    /**
     * Specifies whether path loss estimation is enabled or not.
     * @param pathLossEstimationEnabled true if path loss estimation is enabled,
     *                                  false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setPathLossEstimationEnabled(boolean pathLossEstimationEnabled)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mPathLossEstimationEnabled = pathLossEstimationEnabled;
    }

    /**
     * Indicates whether position covariances of readings must be taken into account to increase
     * the amount of standard deviation of each ranging measure by the amount of position standard
     * deviation assuming that both measures are statistically independent.
     * @return true to take into account reading position covariances, false otherwise.
     */
    public boolean getUseReadingPositionCovariance() {
        return mUseReadingPositionCovariances;
    }

    /**
     * Specifies whether position covariances of readings must be taken into account to increase
     * the amount of standard deviation of each ranging measure by the amount of position standard
     * deviation assuming that both measures are statistically independent.
     * @param useReadingPositionCovariances true to take into account reading position covariances, false
     *                                      otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setUseReadingPositionCovariances(boolean useReadingPositionCovariances)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mUseReadingPositionCovariances = useReadingPositionCovariances;
    }

    /**
     * Indicates whether an homogeneous linear solver is used to estimate an initial
     * position for the internal ranging radio source estimator.
     * @return true if homogeneous linear solver is used, false if an inhomogeneous linear
     * one is used instead.
     */
    public boolean isHomogeneousRangingLinearSolverUsed() {
        return mUseHomogeneousRangingLinearSolver;
    }

    /**
     * Specifies whether an homogeneous linear solver is used to estimate an initial
     * position for the internal ranging radio source estimator.
     * @param useHomogeneousLinearSolver true if homogeneous linear solver is used, false
     *                                   if an inhomogeneous linear one is used instead.
     * @throws LockedException if estimator is locked.
     */
    public void setHomogeneousRangingLinearSolverUsed(boolean useHomogeneousLinearSolver)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }

        mUseHomogeneousRangingLinearSolver = useHomogeneousLinearSolver;
    }

                bias, initialMg, initialGg, accelerometerBias, accelerometerMa,
                listener, DEFAULT_ROBUST_METHOD);
    }


    /**
     * Computes error of a preliminary result respect a given measurement.
     *
     * @param measurement       a measurement.
     * @param preliminaryResult a preliminary result.
     * @return computed error.
     */
    protected double computeError(final StandardDeviationBodyKinematics measurement,
                                  final PreliminaryResult preliminaryResult) {
        // We know that measured angular rate is:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue

        // Hence:
        // [Ωmeasx] = [bx] + ( [1   0   0] + [sx    mxy    mxz]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [0   1   0]   [myx   sy     myz]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [0   0   1]   [mzx   mzy    sz ]  [Ωtruez]   [g31   g32   g33][ftruez]

        final BodyKinematics measuredKinematics = measurement.getKinematics();

        final double[] specificForce = new double[]{
                measuredKinematics.getFx(),
                measuredKinematics.getFy(),
                measuredKinematics.getFz()
        };

        try {
            final double[] axis1 = ArrayUtils.normalizeAndReturnNew(specificForce);
            final Quaternion rot1 = new Quaternion(axis1, 0.0);

            final CoordinateTransformation nedC1 = new CoordinateTransformation(
                    rot1.asInhomogeneousMatrix(), FrameType.BODY_FRAME,
                    FrameType.LOCAL_NAVIGATION_FRAME);

            final NEDPosition nedPosition = getNedPosition();
            final NEDFrame nedFrame1 = new NEDFrame(nedPosition, nedC1);
            final ECEFFrame ecefFrame1 = NEDtoECEFFrameConverter
                    .convertNEDtoECEFAndReturnNew(nedFrame1);
            double timeInterval = mTimeInterval;
            double angleIncrement = mTurntableRotationRate * timeInterval;
            if (Math.abs(angleIncrement) > Math.PI / 2.0) {
                // angle = rot_rate * interval
                // rot_rate * interval / x = angle / x

                // if we want angle / x = pi / 2, then:
                final double x = Math.abs(angleIncrement) / (Math.PI / 2.0);
                timeInterval /= x;
                angleIncrement = mTurntableRotationRate * timeInterval;
            }
            final Rotation3D rot = new AxisRotation3D(axis1, angleIncrement);
            final Rotation3D rot2 = rot1.combineAndReturnNew(rot);
            final CoordinateTransformation nedC2 =
                    new CoordinateTransformation(rot2.asInhomogeneousMatrix(), FrameType.BODY_FRAME,
                            FrameType.LOCAL_NAVIGATION_FRAME);

            final NEDFrame nedFrame2 = new NEDFrame(nedPosition, nedC2);
            final ECEFFrame ecefFrame2 = NEDtoECEFFrameConverter
                    .convertNEDtoECEFAndReturnNew(nedFrame2);

            final BodyKinematics expectedKinematics = ECEFKinematicsEstimator
                    .estimateKinematicsAndReturnNew(timeInterval, ecefFrame2,
                            ecefFrame1);

            final double angularRateMeasX1 = measuredKinematics.getAngularRateX();
            final double angularRateMeasY1 = measuredKinematics.getAngularRateY();
            final double angularRateMeasZ1 = measuredKinematics.getAngularRateZ();

            final double angularRateTrueX = expectedKinematics.getAngularRateX();
            final double angularRateTrueY = expectedKinematics.getAngularRateY();
            final double angularRateTrueZ = expectedKinematics.getAngularRateZ();

            final double fTrueX = expectedKinematics.getFx();
            final double fTrueY = expectedKinematics.getFy();
            final double fTrueZ = expectedKinematics.getFz();

            final Matrix mg = preliminaryResult.mEstimatedMg;

            mRunning = false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors.
     */
    @Override
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing g-dependent cross biases.
     */
    @Override
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated position.
     *
     * @return estimated covariance matrix for estimated position.
     */
    @Override
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    @Override
    public double getEstimatedChiSq() {
        return mEstimatedChiSq;
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed for both
     * the accelerometer and gyroscope.
     *
     * @throws AlgebraException                         if there are numerical errors.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateCommonAxis() throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException {

        // The gyroscope model is:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue

        // where myx = mzx = mzy = 0

        // Hence:
        // [Ωmeasx] = [bx] + ( [1   0   0] + [sx    mxy    mxz]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [0   1   0]   [0     sy     myz]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [0   0   1]   [0     0      sz ]  [Ωtruez]   [g31   g32   g33][ftruez]

        // [Ωmeasx] = [bx] + ( [1+sx  mxy    mxz ]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [0     1+sy   myz ]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [0     0      1+sz]  [Ωtruez]   [g31   g32   g33][ftruez]

        // Ωmeasx = bx + (1+sx) * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy = by + (1+sy) * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz = bz + (1+sz) * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // Where the unknowns are: sx, sy, sz, mxy mxz, myz, g11, g12, g13, g21, g22, g23, g31, g32, g33
        // Reordering:
        // Ωmeasx = bx + Ωtruex + sx * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy = by + Ωtruey + sy * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz = bz + Ωtruez + sz * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // Ωmeasx - Ωtruex - bx = sx * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy - Ωtruey - by = sy * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz - Ωtruez - bz = sz * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // [Ωtruex  0       0       Ωtruey  Ωtruez  0       ftruex  ftruey  ftruez  0       0       0       0       0       0     ][sx ] =  [Ωmeasx - Ωtruex - bx]
        // [0       Ωtruey  0       0       0       Ωtruez  0       0       0       ftruex  ftruey  ftruez  0       0       0     ][sy ]    [Ωmeasy - Ωtruey - by]
        // [0       0       Ωtruez  0       0       0       0       0       0       0       0       0       ftruex  ftruey  ftruez][sz ]    [Ωmeasz - Ωtruez - bz]
        //                                                                                                                         [mxy]
        //                                                                                                                         [mxz]
        //                                                                                                                         [myz]
        //                                                                                                                         [g11]
        //                                                                                                                         [g12]
        //                                                                                                                         [g13]
        //                                                                                                                         [g21]
        //                                                                                                                         [g22]
        //                                                                                                                         [g23]
        //                                                                                                                         [g31]
        //                                                                                                                         [g32]
        //                                                                                                                         [g33]

        mFitter.setFunctionEvaluator(new LevenbergMarquardtMultiVariateFunctionEvaluator() {
            @Override
            public int getNumberOfDimensions() {
                // Input points are true angular rate + specific force coordinates
                return 2 * BodyKinematics.COMPONENTS;
            }

            @Override
            public int getNumberOfVariables() {
                // The multivariate function returns the components of measured angular rate
                return BodyKinematics.COMPONENTS;
            }

            @Override
            public double[] createInitialParametersArray() {
                final double[] initial = new double[COMMON_Z_AXIS_UNKNOWNS];

                initial[0] = mInitialSx;

        mBiasZ = convertAcceleration(biasZ);
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containint coordinates of known bias.
     */
    @Override
    public double[] getBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void getBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mBiasX;
        result[1] = mBiasY;
        result[2] = mBiasZ;
    }

    /**
     * Sets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param bias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void setBias(final double[] bias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (bias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mBiasX = bias[0];
        mBiasY = bias[1];
        mBiasZ = bias[2];
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @return known accelerometer bias as a column matrix.
     */
    @Override
    public Matrix getBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void getBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mBiasX);
        result.setElementAtIndex(1, mBiasY);
        result.setElementAtIndex(2, mBiasZ);
    }

    /**
     * Sets known accelerometer bias as a column matrix.
     *
     * @param bias accelerometer bias to be set.
     * @throws LockedException          if calibrator is currently running
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void setBias(final Matrix bias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (bias.getRows() != BodyKinematics.COMPONENTS
                || bias.getColumns() != 1) {
            throw new IllegalArgumentException();
        }

        mBiasX = bias.getElementAtIndex(0);
        mBiasY = bias.getElementAtIndex(1);
        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Indicates whether estimator is ready to start the estimator.
     *
     * @return true if estimator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {

        estimateKinematics(timeInterval, c, oldC, velocity, oldVelocity, position, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public void estimate(final double timeInterval,
                         final CoordinateTransformation c,
                         final CoordinateTransformation oldC,
                         final Speed vx, final Speed vy, final Speed vz,
                         final Speed oldVx, final Speed oldVy, final Speed oldVz,
                         final Point3D position, final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                position, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public void estimate(final Time timeInterval,
                         final CoordinateTransformation c,
                         final CoordinateTransformation oldC,
                         final Speed vx, final Speed vy, final Speed vz,
                         final Speed oldVx, final Speed oldVy, final Speed oldVz,
                         final Point3D position, final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                position, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final double timeInterval,
                                               final CoordinateTransformation c,
                                               final CoordinateTransformation oldC,
                                               final double vx, final double vy, final double vz,
                                               final double oldVx, final double oldVy, final double oldVz,
                                               final double x, final double y, final double z) {
        return estimateKinematicsAndReturnNew(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                x, y, z);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between.
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final Time timeInterval,
                                               final CoordinateTransformation c,
                                               final CoordinateTransformation oldC,
                                               final double vx, final double vy, final double vz,
                                               final double oldVx, final double oldVy, final double oldVz,
                                               final double x, final double y, final double z) {
        return estimateKinematicsAndReturnNew(timeInterval, c, oldC, vx, vy, vz,
                oldVx, oldVy, oldVz, x, y, z);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param velocity     velocity of body frame with respect ECEF frame.
     * @param oldVelocity  previous velocity of body frame with respect ECEF frame.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final double timeInterval,
                                               final CoordinateTransformation c,

        List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings = getReadings();
        if (readings == null || readings.isEmpty()) {
            return null;
        }
        S source = readings.get(0).getSource();

        Point2D estimatedPosition = getEstimatedPosition();
        if (estimatedPosition == null) {
            return null;
        }

        Matrix estimatedPositionCovariance = getEstimatedPositionCovariance();

        Double transmittedPowerVariance =
                getEstimatedTransmittedPowerVariance();
        Double transmittedPowerStandardDeviation = transmittedPowerVariance != null ?
                Math.sqrt(transmittedPowerVariance) : null;

        Double pathlossExponentVariance =
                getEstimatedPathLossExponentVariance();
        Double pathlossExponentStandardDeviation = pathlossExponentVariance != null ?
                Math.sqrt(pathlossExponentVariance) : null;

        if (source instanceof WifiAccessPoint) {
            WifiAccessPoint accessPoint = (WifiAccessPoint) source;
            return new WifiAccessPointWithPowerAndLocated2D(accessPoint.getBssid(),
                    source.getFrequency(), accessPoint.getSsid(),
                    getEstimatedTransmittedPowerdBm(),
                    transmittedPowerStandardDeviation,
                    getEstimatedPathLossExponent(),
                    pathlossExponentStandardDeviation,
                    estimatedPosition,
                    estimatedPositionCovariance);
        } else if(source instanceof Beacon) {
            Beacon beacon = (Beacon) source;
            return new BeaconWithPowerAndLocated2D(beacon.getIdentifiers(),
                    getEstimatedTransmittedPowerdBm(), beacon.getFrequency(),
                    beacon.getBluetoothAddress(), beacon.getBeaconTypeCode(),
                    beacon.getManufacturer(), beacon.getServiceUuid(),
                    beacon.getBluetoothName(),
                    getEstimatedPathLossExponent(),
                    transmittedPowerStandardDeviation,
                    pathlossExponentStandardDeviation,
                    estimatedPosition, estimatedPositionCovariance);
        }else {
            return null;
        }
    }

    /**
     * Solves preliminar solution for a subset of samples.
     *
     * @param samplesIndices    indices of subset samples.
     * @param solutions         instance where solution will be stored.
     */
    @Override
    protected void solvePreliminarSolutions(int[] samplesIndices,
            List<Solution<Point2D>> solutions) {

        try {
            int index;

            mInnerReadings.clear();
            for (int samplesIndice : samplesIndices) {
                index = samplesIndice;
                mInnerReadings.add(mReadings.get(index));
            }

            //initial transmitted power and position might or might not be available
            mInnerEstimator.setInitialTransmittedPowerdBm(
                    mInitialTransmittedPowerdBm);
            mInnerEstimator.setInitialPosition(mInitialPosition);
            mInnerEstimator.setInitialPathLossExponent(mInitialPathLossExponent);

            mInnerEstimator.setTransmittedPowerEstimationEnabled(
                    mTransmittedPowerEstimationEnabled);
            mInnerEstimator.setPathLossEstimationEnabled(mPathLossEstimationEnabled);

        mAccelerometerSz = accelerometerMa.getElementAtIndex(8);
    }

    /**
     * Gets x-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return x-coordinate of gyroscope known bias.
     */
    public double getBiasX() {
        return mBiasX;
    }

    /**
     * Sets x-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @param biasX x-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasX(final double biasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasX = biasX;
    }

    /**
     * Gets y-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return y-coordinate of gyroscope known bias.
     */
    public double getBiasY() {
        return mBiasY;
    }

    /**
     * Sets y-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @param biasY y-coordinate of gyroscope known  bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasY(final double biasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasY = biasY;
    }

    /**
     * Gets z-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @return z-coordinate of gyroscope known bias.
     */
    public double getBiasZ() {
        return mBiasZ;
    }

    /**
     * Sets z-coordinate of gyroscope known bias.
     * This is expressed in radians per second (rad/s).
     *
     * @param biasZ z-coordinate of gyroscope bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasZ(final double biasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasZ = biasZ;
    }

    /**
     * Gets x-coordinate of gyroscope known bias.
     *
     * @return x-coordinate of gyroscope known bias.
     */
    public AngularSpeed getBiasAngularSpeedX() {
        return new AngularSpeed(mBiasX,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets x-coordinate of gyroscope known bias.
     *
     * @param result instance where result data will be stored.
     */
    public void getBiasAngularSpeedX(final AngularSpeed result) {
        result.setValue(mBiasX);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets x-coordinate of gyroscope known bias.
     *
     * @param biasX x-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasX(final AngularSpeed biasX)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasX = convertAngularSpeed(biasX);
    }

    /**
     * Gets y-coordinate of gyroscope known bias.
     *
     * @return y-coordinate of gyroscope known bias.
     */
    public AngularSpeed getBiasAngularSpeedY() {
        return new AngularSpeed(mBiasY,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets y-coordinate of gyroscope known bias.
     *
     * @param result instance where result data will be stored.
     */
    public void getBiasAngularSpeedY(final AngularSpeed result) {
        result.setValue(mBiasY);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets y-coordinate of gyroscope known bias.
     *
     * @param biasY y-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasY(final AngularSpeed biasY)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasY = convertAngularSpeed(biasY);
    }

    /**
     * Gets z-coordinate of gyroscope known bias.
     *
     * @return initial z-coordinate of gyroscope known bias.
     */
    public AngularSpeed getBiasAngularSpeedZ() {
        return new AngularSpeed(mBiasZ,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets z-coordinate of gyroscope known bias.
     *
     * @param result instance where result data will be stored.
     */
    public void getBiasAngularSpeedZ(final AngularSpeed result) {
        result.setValue(mBiasZ);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets z-coordinate of gyroscope known bias.
     *
     * @param biasZ z-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBiasZ(final AngularSpeed biasZ)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mBiasZ = convertAngularSpeed(biasZ);
    }

    /**
     * Sets known bias coordinates of gyroscope expressed in
     * radians per second (rad/s).
     *
     * @param biasX x-coordinate of gyroscope known bias.
     * @param biasY y-coordinate of gyroscope known bias.
     * @param biasZ z-coordinate of gyroscope known bias.
     * @throws LockedException if calibrator is currently running.
     */
    public void setBias(

        fillHardIronBiases(bx, by, bz);
        fillMm(sx, sy, sz, mxy, mxz, 0.0, myz, 0.0, 0.0);
    }

    /**
     * Internal method to perform general calibration.
     *
     * @throws AlgebraException if there are numerical errors.
     * @throws IOException      if world magnetic model cannot be loaded.
     */
    private void calibrateGeneral() throws AlgebraException, IOException {
        // The magnetometer model is:
        // mBmeas = bm + (I + Mm) * mBtrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // mBmeas = bm + (I + Mm) * mBtrue

        // Hence:
        //  [mBmeasx] = [bx] + ( [1  0   0] + [sx    mxy mxz])   [mBtruex]
        //  [mBmeasy] = [by]     [0  1   0]   [myx   sy  myz]    [mBtruey]
        //  [mBmeasz] = [bz]     [0  0   1]   [mzx   mzy sz ]    [mBtruez]

        //  [mBmeasx] = [bx] +   [1+sx   mxy     mxz ][mBtruex]
        //  [mBmeasy]   [by]     [myx    1+sy    myz ][mBtruey]
        //  [mBmeasz]   [bz]     [mzx    mzy     1+sz][mBtruez]

        //  mBmeasx = bx + (1+sx) * mBtruex + mxy * mBtruey + mxz * mBtruez
        //  mBmeasy = by + myx * mBtruex + (1+sy) * mBtruey + myz * mBtruez
        //  mBmeasz = bz + mzx * mBtruex + mzy * mBtruey + (1+sz) * mBtruez

        // Where the unknowns are: bx, by, bz, sx, sy, sz, mxy mxz, myx, myz, mzx, mzy
        // Reordering:
        //  mBmeasx = bx + mBtruex + sx * mBtruex + mxy * mBtruey + mxz * mBtruez
        //  mBmeasy = by + myx * mBtruex + mBtruey + sy * mBtruey + myz * mBtruez
        //  mBmeasz = bz + mzx * mBtruex + mzy * mBtruey + mBtruez + sz * mBtruez

        //  mBmeasx - mBtruex = bx + sx * mBtruex + mxy * mBtruey + mxz * mBtruez
        //  mBmeasy - mBtruey = by + myx * mBtruex + sy * mBtruey + myz * mBtruez
        //  mBmeasz - mBtruez = bz + mzx * mBtruex + mzy * mBtruey + sz * mBtruez

        // [1   0   0   mBtruex  0        0        mBtruey  mBtruez  0        0        0        0      ][bx ] = [mBmeasx - mBtruex]
        // [0   1   0   0        mBtruey  0        0        0        mBtruex  mBtruez  0        0      ][by ]   [mBmeasy - mBtruey]
        // [0   0   1   0        0        mBtruez  0        0        0        0        mBtruex  mBtruey][bz ]   [mBmeasz - mBtruez]
        //                                                                                              [sx ]
        //                                                                                              [sy ]
        //                                                                                              [sz ]
        //                                                                                              [mxy]
        //                                                                                              [mxz]
        //                                                                                              [myx]
        //                                                                                              [myz]
        //                                                                                              [mzx]
        //                                                                                              [mzy]

        final WMMEarthMagneticFluxDensityEstimator wmmEstimator;
        if (mMagneticModel != null) {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator(mMagneticModel);
        } else {
            wmmEstimator = new WMMEarthMagneticFluxDensityEstimator();
        }

        final BodyMagneticFluxDensity expectedMagneticFluxDensity = new BodyMagneticFluxDensity();
        final NEDFrame nedFrame = new NEDFrame();
        final NEDMagneticFluxDensity earthB = new NEDMagneticFluxDensity();
        final CoordinateTransformation cbn = new CoordinateTransformation(
                FrameType.BODY_FRAME, FrameType.LOCAL_NAVIGATION_FRAME);
        final CoordinateTransformation cnb = new CoordinateTransformation(
                FrameType.LOCAL_NAVIGATION_FRAME, FrameType.BODY_FRAME);

        final int rows = EQUATIONS_PER_MEASUREMENT * mMeasurements.size();
        final Matrix a = new Matrix(rows, GENERAL_UNKNOWNS);
        final Matrix b = new Matrix(rows, 1);
        int i = 0;
        for (final FrameBodyMagneticFluxDensity measurement : mMeasurements) {
            final BodyMagneticFluxDensity measuredMagneticFluxDensity =
                    measurement.getMagneticFluxDensity();

            // estimate Earth magnetic flux density at frame position and
            // timestamp using WMM
            final ECEFFrame ecefFrame = measurement.getFrame();
            ECEFtoNEDFrameConverter.convertECEFtoNED(ecefFrame, nedFrame);

            final double year = measurement.getYear();

            final double latitude = nedFrame.getLatitude();
            final double longitude = nedFrame.getLongitude();
            final double height = nedFrame.getHeight();

            nedFrame.getCoordinateTransformation(cbn);
            cbn.inverse(cnb);

            wmmEstimator.estimate(latitude, longitude, height, year, earthB);

            // estimate expected body mangetic flux density taking into
            // account body attitude (inverse of frame orientation) and
            // estimated Earth magnetic flux density
            BodyMagneticFluxDensityEstimator.estimate(earthB, cnb,
                    expectedMagneticFluxDensity);

            final double bMeasX = measuredMagneticFluxDensity.getBx();
            final double bMeasY = measuredMagneticFluxDensity.getBy();
            final double bMeasZ = measuredMagneticFluxDensity.getBz();

            final double bTrueX = expectedMagneticFluxDensity.getBx();
            final double bTrueY = expectedMagneticFluxDensity.getBy();
            final double bTrueZ = expectedMagneticFluxDensity.getBz();

            a.setElementAt(i, 0, 1.0);

    public void setListener(final RobustKnownBiasAndPositionAccelerometerCalibratorListener listener)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Gets minimum number of required measurements.
     *
     * @return minimum number of required measurements.
     */
    public int getMinimumRequiredMeasurements() {
        return mCommonAxisUsed ? MINIMUM_MEASUREMENTS_COMMON_Z_AXIS :
                MINIMUM_MEASUREMENTS_GENERAL;
    }

    /**
     * Indicates whether calibrator is ready to start.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    public boolean isReady() {
        return mMeasurements != null && mMeasurements.size() >= getMinimumRequiredMeasurements()
                && mPosition != null;
    }

    /**
     * Indicates whether calibrator is currently running or not.
     *
     * @return true if calibrator is running, false otherwise.
     */
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Returns amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @return amount of progress variation before notifying a progress change during
     * calibration.
     */
    public float getProgressDelta() {
        return mProgressDelta;
    }

    /**
     * Sets amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @param progressDelta amount of progress variation before notifying a progress
     *                      change during calibration.
     * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setProgressDelta(float progressDelta) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (progressDelta < MIN_PROGRESS_DELTA ||
                progressDelta > MAX_PROGRESS_DELTA) {
            throw new IllegalArgumentException();
        }
        mProgressDelta = progressDelta;
    }

    /**
     * Returns amount of confidence expressed as a value between 0.0 and 1.0
     * (which is equivalent to 100%). The amount of confidence indicates the probability
     * that the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @return amount of confidence as a value between 0.0 and 1.0.
     */
    public double getConfidence() {
        return mConfidence;
    }

    /**
     * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
     * equivalent to 100%). The amount of confidence indicates the probability that
     * the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @param confidence confidence to be set as a value between 0.0 and 1.0.
     * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setConfidence(double confidence) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
            throw new IllegalArgumentException();
        }
        mConfidence = confidence;
    }

    /**
     * Returns maximum allowed number of iterations. If maximum allowed number of
     * iterations is achieved without converging to a result when calling calibrate(),
     * a RobustEstimatorException will be raised.
     *
     * @return maximum allowed number of iterations.
     */
    public int getMaxIterations() {
        return mMaxIterations;
    }

    /**
     * Sets maximum allowed number of iterations. When the maximum number of iterations
     * is exceeded, result will not be available, however an approximate result will be
     * available for retrieval.
     *
     * @param maxIterations maximum allowed number of iterations to be set.
     * @throws IllegalArgumentException if provided value is less than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setMaxIterations(int maxIterations) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (maxIterations < MIN_ITERATIONS) {
            throw new IllegalArgumentException();
        }
        mMaxIterations = maxIterations;
    }

    /**
     * Gets data related to inliers found after estimation.
     *
     * @return data related to inliers found after estimation.
     */
    public InliersData getInliersData() {
        return mInliersData;
    }

    /**
     * Indicates whether result must be refined using a non-linear solver over found inliers.
     *
     * @return true to refine result, false to simply use result found by robust estimator
     * without further refining.
     */
    public boolean isResultRefined() {
        return mRefineResult;
    }

    /**
     * Specifies whether result must be refined using a non-linear solver over found inliers.
     *
     * @param refineResult true to refine result, false to simply use result found by robust
     *                     estimator without further refining.
     * @throws LockedException if calibrator is currently running.
     */
    public void setResultRefined(boolean refineResult) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mRefineResult = refineResult;
    }

    /**
     * Indicates whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @return true if covariance must be kept after refining result, false otherwise.
     */
    public boolean isCovarianceKept() {
        return mKeepCovariance;
    }

    /**
     * Specifies whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @param keepCovariance true if covariance must be kept after refining result,
     *                       false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCovarianceKept(boolean keepCovariance) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mKeepCovariance = keepCovariance;
    }

    /**
     * Returns quality scores corresponding to each measurement.
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    public double[] getQualityScores() {
        return null;
    }

    /**
     * Sets quality scores corresponding to each measurement.
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMa() {

            MixedPositionEstimatorListener<P> listener) {
        this(listener);
        mInitialPosition = initialPosition;
    }

    /**
     * Gets initial position to start position estimation.
     * If not defined, centroid of located sources position will be used to start
     * the estimation.
     *
     * @return initial position to start position estimation.
     */
    public P getInitialPosition() {
        return mInitialPosition;
    }

    /**
     * Sets initial position to start position estimation.
     * If not defined, centroid of located sources position will be used to start
     * the estimation.
     *
     * @param initialPosition initial position to start position estimation.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPosition(P initialPosition) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPosition = initialPosition;
    }

    /**
     * Indicates whether located radio source position covariance must be taken into
     * account (if available) to determine distance standard deviation.
     *
     * @return true to take radio source position covariance into account, false
     * otherwise.
     */
    public boolean isRadioSourcePositionCovarianceUsed() {
        return mUseRadioSourcePositionCovariance;
    }

    /**
     * Specifies whether located radio source position covariance must be taken into
     * account (if available) to determine distance standard deviation.
     *
     * @param useRadioSourcePositionCovariance true to take radio source position
     *                                         covariance into account, false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setRadioSourcePositionCovarianceUsed(
            boolean useRadioSourcePositionCovariance) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mUseRadioSourcePositionCovariance = useRadioSourcePositionCovariance;
    }

    /**
     * Gets distance standard deviation fallback value to use when none can be
     * determined from provided radio sources and fingerprint readings.
     *
     * @return distance standard deviation to use as fallback.
     */
    public double getFallbackDistanceStandardDeviation() {
        return mFallbackDistanceStandardDeviation;
    }

    /**
     * Sets distance standard deviation fallback value to use when none can be
     * determined from provided radio sources and fingerprint readings.
     *
     * @param fallbackDistanceStandardDeviation distance standard deviation to use
     *                                          as fallback.
     * @throws LockedException if estimator is locked.
     */
    public void setFallbackDistanceStandardDeviation(
            double fallbackDistanceStandardDeviation) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mFallbackDistanceStandardDeviation = fallbackDistanceStandardDeviation;
    }

    /**
     * Gets minimum required number of located radio sources to perform lateration.
     *
     * @return minimum required number of located radio sources to perform lateration.
     */
    @Override
    public int getMinRequiredSources() {
        return mTrilaterationSolver.getMinRequiredPositionsAndDistances();
    }

    /**
     * Indicates whether estimator is ready to find a solution.
     *
     * @return true if estimator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return mTrilaterationSolver.isReady();
    }

    /**
     * Returns boolean indicating whether this estimator is locked because an estimation
     * is already in progress.
     *
     * @return true if estimator is locked, false otherwise.
     */
    @Override
    public boolean isLocked() {
        return mTrilaterationSolver.isLocked();
    }

    /**
     * Gets standard deviations of distances from known located radio sources to the
     * location of provided readings in a fingerprint.
     * Distance standard deviations are used internally to solve lateration.
     *
     * @return standard deviations used internally.
     */
    public double[] getDistanceStandardDeviations() {
        return mTrilaterationSolver.getDistanceStandardDeviations();
    }

    /**
     * Estimates position based on provided located radio sources and readings of such
     * radio sources at an unknown location.
     *
     * @throws LockedException              if estimator is locked.
     * @throws NotReadyException            if estimator is not ready.
     * @throws PositionEstimationException  if estimation fails for some other reason.
     */
    @Override
    public void estimate() throws LockedException, NotReadyException,
            PositionEstimationException {
        try {
            mTrilaterationSolver.setInitialPosition(mInitialPosition);

            mTrilaterationSolver.solve();
            mEstimatedPositionCoordinates =
                    mTrilaterationSolver.getEstimatedPositionCoordinates();
        } catch (LaterationException e) {
            throw new PositionEstimationException(e);
        }
    }

    /**
     * Gets known positions of radio sources used internally to solve lateration.
     *
     * @return known positions used internally.
     */
    @Override
    public P[] getPositions() {
        return mTrilaterationSolver.getPositions();
    }

    /**
     * Gets euclidean distances from known located radio sources to the location of
     * provided readings in a fingerprint.
     * Distance values are used internally to solve lateration.
     *
     * @return euclidean distances used internally.
     */
    @Override
    public double[] getDistances() {
        return mTrilaterationSolver.getDistances();
    }

    /**
     * Gets estimated covariance matrix for estimated position.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getCovariance() {
        return mTrilaterationSolver.getCovariance();
    }

    /**
     * Internally sets located radio sources used for lateration.
     * @param sources located radio sources used for lateration.
     * @throws IllegalArgumentException if provided value is null or the number of
     * provided sources is less than the required minimum.
     */
    protected void internalSetSources(List<? extends RadioSourceLocated<P>> sources) {
        super.internalSetSources(sources);
        buildPositionsDistancesAndDistanceStandardDeviations();
    }

    /**
     * Internally sets fingerprint containing readings at an unknown location for provided
     * located radio sources.
     *
     * @param fingerprint fingerprint containing readings at an unknown location for
     *                    provided located radio sources.
     * @throws IllegalArgumentException if provided value is null.
     */
    protected void internalSetFingerprint(
            Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {

                initialPathLossExponent, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException if this solver is locked.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than minimum required samples.
     * @throws LockedException if robust solver is locked because an
     * estimation is already in progress.
     */
    public void setQualityScores(double[] qualityScores) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mReadings.size();
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        PROMedSRobustEstimator<Solution<Point3D>> innerEstimator =
                new PROMedSRobustEstimator<>(
                        new PROMedSRobustEstimatorListener<Solution<Point3D>>() {

                            @Override
                            public double[] getQualityScores() {
                                return mQualityScores;
                            }

                            @Override
                            public double getThreshold() {
                                return mStopThreshold;
                            }

                            @Override
                            public int getTotalSamples() {
                                return mReadings.size();
                            }

                            @Override
                            public int getSubsetSize() {
                                return Math.max(mPreliminarySubsetSize, getMinReadings());
                            }

                            @Override
                            public void estimatePreliminarSolutions(int[] samplesIndices,
                                                                    List<Solution<Point3D>> solutions) {
                                solvePreliminarSolutions(samplesIndices, solutions);
                            }

                            @Override
                            public double computeResidual(Solution<Point3D> currentEstimation, int i) {
                                return residual(currentEstimation, i);
                            }

                            @Override
                            public boolean isReady() {
                                return PROMedSRobustRangingAndRssiRadioSourceEstimator3D.this.isReady();

            RobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
        super(readings, initialPosition, initialTransmittedPowerdBm,
                initialPathLossExponent, listener);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on received power (RSSI) expressed
     * in dBm's between received value that should have been received on estimated
     * isotropical model and actual measured value.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on received power (RSSI) expressed
     * in dBm's between received value that should have been received on estimated
     * isotropical model and actual measured value.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this estimator is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }


    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        RANSACRobustEstimator<Solution<Point2D>> innerEstimator =
                new RANSACRobustEstimator<>(
                        new RANSACRobustEstimatorListener<Solution<Point2D>>() {
                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mReadings.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return Math.max(mPreliminarySubsetSize, getMinReadings());
                    }

                    @Override
                    public void estimatePreliminarSolutions(int[] samplesIndices,
                            List<Solution<Point2D>> solutions) {
                        solvePreliminarSolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(Solution<Point2D> currentEstimation, int i) {
                        return residual(currentEstimation, i);
                    }

                    @Override
                    public boolean isReady() {
                        return RANSACRobustRangingAndRssiRadioSourceEstimator2D.this.isReady();

            RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
        super(readings, initialPosition, initialTransmittedPowerdBm,
                initialPathLossExponent, listener);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on received power (RSSI) expressed
     * in dBm's between received value that should have been received on estimated
     * isotropical model and actual measured value.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on received power (RSSI) expressed
     * in dBm's between received value that should have been received on estimated
     * isotropical model and actual measured value.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this estimator is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }


    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        RANSACRobustEstimator<Solution<Point3D>> innerEstimator =
                new RANSACRobustEstimator<>(
                        new RANSACRobustEstimatorListener<Solution<Point3D>>() {
                            @Override
                            public double getThreshold() {
                                return mThreshold;
                            }

                            @Override
                            public int getTotalSamples() {
                                return mReadings.size();
                            }

                            @Override
                            public int getSubsetSize() {
                                return Math.max(mPreliminarySubsetSize, getMinReadings());
                            }

                            @Override
                            public void estimatePreliminarSolutions(int[] samplesIndices,
                                                                    List<Solution<Point3D>> solutions) {
                                solvePreliminarSolutions(samplesIndices, solutions);
                            }

                            @Override
                            public double computeResidual(Solution<Point3D> currentEstimation, int i) {
                                return residual(currentEstimation, i);
                            }

                            @Override
                            public boolean isReady() {
                                return RANSACRobustRangingAndRssiRadioSourceEstimator3D.this.isReady();

    public RadioSourceKNearestFinder(Collection<? extends RssiFingerprintLocated<S, RssiReading<S>, P>> fingerprints) {
        if (fingerprints == null) {
            throw new IllegalArgumentException();
        }
        mFingerprints = fingerprints;
    }

    /**
     * Finds nearest fingerprint to provided one, in terms of signal euclidean distances, within the collection of
     * provided fingerprints.
     * @param fingerprint fingerprint to find the nearest to.
     * @return nearest fingerprint or null if none could be found.
     */
    public RssiFingerprintLocated<S, RssiReading<S>, P> findNearestTo(RssiFingerprint<S, RssiReading<S>> fingerprint) {
        return findNearestTo(fingerprint, mFingerprints);
    }

    /**
     * Finds k-nearest fingerprints to provided one, in terms of signal euclidean distances, within the collection
     * of provided fingerprints.
     * @param fingerprint fingerprint to find the k-nearest ones to.
     * @param k number of nearest fingerprints to find.
     * @return nearest fingerprints ordered from closest to farthest or an empty list if none could be found.
     * @throws IllegalArgumentException if either fingerprint is null or k is les than 1.
     */
    public List<RssiFingerprintLocated<S, RssiReading<S>, P>> findKNearestTo(
            RssiFingerprint<S, RssiReading<S>> fingerprint, int k) {
        return findKNearestTo(fingerprint, mFingerprints, k);
    }

    /**
     * Finds k-nearest fingerprints to provided one, in terms of signal euclidean distances, within the collection
     * of provided fingerprints.
     * @param fingerprint fingerprint to find the k-nearest ones to.
     * @param k number of nearest fingerprints to find.
     * @param nearestFingerprints list where found nearest fingerprints will be stored ordered from closest to farthest
     *                            or an empty list if none could be found.
     * @param nearestSqrDistances list where squared signal euclidean distances corresponding to found fingerprints will
     *                            be stored or an empty list if no fingerprint is found.
     * @throws IllegalArgumentException if any parameter is null or k is less than 1.
     */
    public void findKNearestTo(RssiFingerprint<S, RssiReading<S>> fingerprint, int k,
            List<RssiFingerprintLocated<S, RssiReading<S>, P>> nearestFingerprints,
            List<Double> nearestSqrDistances) {
        findKNearestTo(fingerprint, mFingerprints, k, nearestFingerprints, nearestSqrDistances);
    }

    /**
     * Gets collection of fingerprints to match against.
     * @return collection of fingerprints to match against.
     */
    public Collection<? extends RssiFingerprintLocated<S, RssiReading<S>, P>> getFingerprints() {
        return mFingerprints;
    }

    /**
     * Finds nearest fingerprint to provided one, in terms of signal euclidean distances, within the collection of
     * provided fingerprints.
     * @param fingerprint fingerprint to find the nearest to.
     * @param fingerprints collection of fingerprints to make the search for the nearest one.
     * @return nearest fingerprint or null if none could be found.
     * @throws IllegalArgumentException if either fingerprint or collection of fingerprints is null.
     * @param <P> a {@link Point} type.
     * @param <S> a {@link RadioSource} type.
     */
    @SuppressWarnings("Duplicates")
    public static <P extends Point<?>, S extends RadioSource> RssiFingerprintLocated<S, RssiReading<S>, P>
            findNearestTo(RssiFingerprint<S, RssiReading<S>> fingerprint,
            Collection<? extends RssiFingerprintLocated<S, RssiReading<S>, P>> fingerprints) {
        if (fingerprint == null || fingerprints == null) {
            throw new IllegalArgumentException();
        }

        double bestSqrDist = Double.MAX_VALUE;
        RssiFingerprintLocated<S, RssiReading<S>, P> result = null;
        for(RssiFingerprintLocated<S, RssiReading<S>, P> f : fingerprints) {
            double sqrDist = f.sqrDistanceTo(fingerprint);

                        return evaluateCommonAxisWithGDependentCrossBiases(mI, params);
                    }
                });

        final Matrix initialM = Matrix.identity(
                BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
        initialM.add(getInitialMg());

        // Force initial M to be upper diagonal
        initialM.setElementAt(1, 0, 0.0);
        initialM.setElementAt(2, 0, 0.0);
        initialM.setElementAt(2, 1, 0.0);

        final Matrix invInitialM = Utils.inverse(initialM);
        final Matrix initialBg = getInitialBiasAsMatrix();
        final Matrix initialB = invInitialM.multiplyAndReturnNew(initialBg);
        final Matrix initialGg = getInitialGg();
        final Matrix initialG = invInitialM.multiplyAndReturnNew(initialGg);

        mFitter.setFunctionEvaluator(new LevenbergMarquardtMultiDimensionFunctionEvaluator() {
            @Override
            public int getNumberOfDimensions() {
                // Before and after normalized gravity versors
                return 2 * BodyKinematics.COMPONENTS;
            }

            @Override
            public double[] createInitialParametersArray() {
                final double[] initial =
                        new double[COMMON_Z_AXIS_UNKNOWNS_AND_CROSS_BIASES];

                // biases b
                for (int i = 0; i < BodyKinematics.COMPONENTS; i++) {
                    initial[i] = initialB.getElementAtIndex(i);
                }

                // upper diagonal cross coupling errors M
                int k = BodyKinematics.COMPONENTS;
                for (int j = 0; j < BodyKinematics.COMPONENTS; j++) {
                    for (int i = 0; i < BodyKinematics.COMPONENTS; i++) {
                        if (i <= j) {
                            initial[k] = initialM.getElementAt(i, j);
                            k++;
                        }
                    }
                }

                // g-dependent cross biases G
                final int num = BodyKinematics.COMPONENTS * BodyKinematics.COMPONENTS;
                for (int i = 0, j = k; i < num; i++, j++) {
                    initial[j] = initialG.getElementAtIndex(i);
                }

                return initial;
            }

            @Override
            public double evaluate(
                    final int i, final double[] point,
                    final double[] params, final double[] derivatives)
                    throws EvaluationException {

    }

    /**
     * Fills scale factor and cross coupling error matrix with estimated values.
     *
     * @param sx  x scale factor
     * @param sy  y scale factor
     * @param sz  z scale factor
     * @param mxy x-y cross coupling
     * @param mxz x-z cross coupling
     * @param myx y-x cross coupling
     * @param myz y-z cross coupling
     * @param mzx z-x cross coupling
     * @param mzy z-y cross coupling
     * @throws WrongSizeException never happens.
     */
    private void fillMg(final double sx, final double sy, final double sz,
                        final double mxy, final double mxz, final double myx,
                        final double myz, final double mzx, final double mzy)
            throws WrongSizeException {
        if (mEstimatedMg == null) {
            mEstimatedMg = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
        }

        mEstimatedMg.setElementAt(0, 0, sx);
        mEstimatedMg.setElementAt(1, 0, myx);
        mEstimatedMg.setElementAt(2, 0, mzx);

        mEstimatedMg.setElementAt(0, 1, mxy);
        mEstimatedMg.setElementAt(1, 1, sy);
        mEstimatedMg.setElementAt(2, 1, mzy);

        mEstimatedMg.setElementAt(0, 2, mxz);
        mEstimatedMg.setElementAt(1, 2, myz);
        mEstimatedMg.setElementAt(2, 2, sz);
    }

    /**
     * Fills G-dependant cross biases.
     *
     * @param g11 element 1,1 of G-dependant cross biases matrix.
     * @param g12 element 1,2 of G-dependant cross biases matrix.
     * @param g13 element 1,3 of G-dependant cross biases matrix.
     * @param g21 element 2,1 of G-dependant cross biases matrix.
     * @param g22 element 2,2 of G-dependant cross biases matrix.
     * @param g23 element 2,3 of G-dependant cross biases matrix.
     * @param g31 element 3,1 of G-dependant cross biases matrix.
     * @param g32 element 3,2 of G-dependant cross biases matrix.
     * @param g33 element 3,3 of G-dependant cross biases matrix.
     * @throws WrongSizeException never happens.
     */
    private void fillGg(final double g11, final double g12, final double g13,
                        final double g21, final double g22, final double g23,
                        final double g31, final double g32, final double g33)
            throws WrongSizeException {
        if (mEstimatedGg == null) {
            mEstimatedGg = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
        }

        mEstimatedGg.setElementAt(0, 0, g11);
        mEstimatedGg.setElementAt(0, 1, g12);
        mEstimatedGg.setElementAt(0, 2, g13);

        mEstimatedGg.setElementAt(1, 0, g21);
        mEstimatedGg.setElementAt(1, 1, g22);
        mEstimatedGg.setElementAt(1, 2, g23);

        mEstimatedGg.setElementAt(2, 0, g31);
        mEstimatedGg.setElementAt(2, 1, g32);
        mEstimatedGg.setElementAt(2, 2, g33);
    }

                                          final ECEFFrame frame,
                                          final CoordinateTransformation oldC,
                                          final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                          final BodyKinematics result) {
        estimateKinematics(timeInterval, frame, oldC,
                SpeedConverter.convert(oldVx.getValue().doubleValue(), oldVx.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVy.getValue().doubleValue(), oldVy.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVz.getValue().doubleValue(), oldVz.getUnit(), SpeedUnit.METERS_PER_SECOND),
                result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final double timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final double vx, final double vy, final double vz,
                                          final double oldVx, final double oldVy, final double oldVz,
                                          final Point3D position, final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                position.getInhomX(), position.getInhomY(), position.getInhomZ(), result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final Time timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final double vx, final double vy, final double vz,
                                          final double oldVx, final double oldVy, final double oldVz,
                                          final Point3D position, final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                position.getInhomX(), position.getInhomY(), position.getInhomZ(), result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param velocity     velocity of body frame with respect ECEF frame.
     * @param oldVelocity  previous velocity of body frame with respect ECEF frame.
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final double timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final ECEFVelocity velocity,

            final RobustKnownFrameAccelerometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new PROMedSRobustEstimator<>(new PROMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mStopThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROMedSRobustKnownFrameAccelerometerCalibrator.this.isReady();

                estimateGDependentCrossBiases, initialBias, initialMg,
                initialGg, accelerometerBias, accelerometerMa, listener);
        internalSetQualityScores(qualityScores);
    }
    
    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mSequences.size();
    }

    /**
     * Estimates gyroscope calibration parameters containing bias, scale factors,
     * cross-coupling errors and G-dependent coupling.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new PROMedSRobustEstimator<>(new PROMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mStopThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mSequences.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(
                            final int[] samplesIndices,
                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(
                            final PreliminaryResult currentEstimation,
                            final int i) {
                        return computeError(mSequences.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROMedSRobustEasyGyroscopeCalibrator.this.isReady();

                commonAxisUsed, estimateGDependentCrossBiases, bias,
                initialMg, initialGg, accelerometerBias, accelerometerMa,
                listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Estimates gyroscope calibration parameters containing scale factors
     * cross-coupling errors and g-dependant cross biases.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new PROMedSRobustEstimator<>(new PROMedSRobustEstimatorListener<PreliminaryResult>() {
            @Override
            public double[] getQualityScores() {
                return mQualityScores;
            }

            @Override
            public double getThreshold() {
                return mStopThreshold;
            }

            @Override
            public int getTotalSamples() {
                return mMeasurements.size();
            }

            @Override
            public int getSubsetSize() {
                return mPreliminarySubsetSize;
            }

            @Override
            public void estimatePreliminarSolutions(
                    final int[] samplesIndices, final List<PreliminaryResult> solutions) {
                computePreliminarySolutions(samplesIndices, solutions);
            }

            @Override
            public double computeResidual(
                    final PreliminaryResult currentEstimation, final int i) {
                return computeError(mMeasurements.get(i), currentEstimation);
            }

            @Override
            public boolean isReady() {
                return PROMedSRobustKnownBiasTurntableGyroscopeCalibrator.this.isReady();

        super(position, measurements, commonAxisUsed, bias, initialMa, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples
     *                                  (10 or 13).
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        mGravityNorm = computeGravityNorm();

        final PROMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new PROMedSRobustEstimator<>(new PROMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mStopThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROMedSRobustKnownBiasAndPositionAccelerometerCalibrator.this.isReady();

        mEstimatedChiSq = mFitter.getChisq();
    }

    /**
     * Computes estimated true specific force squared norm using current measured
     * specific force and provided parameters for the general case.
     * This method is internally executed during gradient estimation and
     * Levenberg-Marquardt fitting needed for calibration computation.
     *
     * @param params array containing current parameters for the general purpose case.
     *               Must have length 12.
     * @return estimated true specific force squared norm.
     * @throws EvaluationException if there are numerical instabilities.
     */
    private double evaluateGeneral(final double[] params) throws EvaluationException {
        final double bx = params[0];
        final double by = params[1];
        final double bz = params[2];

        final double m11 = params[3];
        final double m21 = params[4];
        final double m31 = params[5];

        final double m12 = params[6];
        final double m22 = params[7];
        final double m32 = params[8];

        final double m13 = params[9];
        final double m23 = params[10];
        final double m33 = params[11];

        return evaluate(bx, by, bz, m11, m21, m31, m12, m22, m32,
                m13, m23, m33);
    }

    /**
     * Computes estimated true specific force squared norm using current measured
     * specific force and provided parameters when common z-axis is assumed.
     * This method is internally executed during gradient estimation and
     * Levenberg-Marquardt fitting needed for calibration computation.
     *
     * @param params array containing current parameters for the common z-axis case.
     *               Must have length 9.
     * @return estimated true specific force squared norm.
     * @throws EvaluationException if there are numerical instabilities.
     */
    private double evaluateCommonAxis(final double[] params) throws EvaluationException {
        final double bx = params[0];
        final double by = params[1];
        final double bz = params[2];

        final double m11 = params[3];

        final double m12 = params[4];
        final double m22 = params[5];

        final double m13 = params[6];
        final double m23 = params[7];
        final double m33 = params[8];

        return evaluate(bx, by, bz, m11, 0.0, 0.0, m12, m22, 0.0,
                m13, m23, m33);
    }

    /**
     * Computes estimated true specific force squared norm using current measured
     * specific force and provided parameters.
     * This method is internally executed during gradient estimation and
     * Levenberg-Marquardt fitting needed for calibration computation.
     *
     * @param bx x-coordinate of bias.
     * @param by y-coordinate of bias.
     * @param bz z-coordinate of bias.
     * @param m11 element 1,1 of cross-coupling error matrix.
     * @param m21 element 2,1 of cross-coupling error matrix.
     * @param m31 element 3,1 of cross-coupling error matrix.
     * @param m12 element 1,2 of cross-coupling error matrix.
     * @param m22 element 2,2 of cross-coupling error matrix.
     * @param m32 element 3,2 of cross-coupling error matrix.
     * @param m13 element 1,3 of cross-coupling error matrix.
     * @param m23 element 2,3 of cross-coupling error matrix.
     * @param m33 element 3,3 of cross-coupling error matrix.
     * @return estimated true specific force squared norm.
     * @throws EvaluationException if there are numerical instabilities.
     */
    private double evaluate(final double bx, final double by, final double bz,
                            final double m11, final double m21, final double m31,
                            final double m12, final double m22, final double m32,
                            final double m13, final double m23, final double m33)

        super(measurements, commonAxisUsed, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new PROMedSRobustEstimator<>(new PROMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double[] getQualityScores() {
                        return mQualityScores;
                    }

                    @Override
                    public double getThreshold() {
                        return mStopThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return PROMedSRobustKnownFrameAccelerometerCalibrator.this.isReady();

                initialPathLossExponent, listener);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on received power (RSSI) expressed
     * in dBm's between received value that should have been received on estimated
     * isotropical model and actual measured value.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on received power (RSSI) expressed
     * in dBm's between received value that should have been received on estimated
     * isotropical model and actual measured value.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this estimator is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }


    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        RANSACRobustEstimator<Solution<Point3D>> innerEstimator =
                new RANSACRobustEstimator<>(
                        new RANSACRobustEstimatorListener<Solution<Point3D>>() {
                            @Override
                            public double getThreshold() {
                                return mThreshold;
                            }

                            @Override
                            public int getTotalSamples() {
                                return mReadings.size();
                            }

                            @Override
                            public int getSubsetSize() {
                                return Math.max(mPreliminarySubsetSize, getMinReadings());
                            }

                            @Override
                            public void estimatePreliminarSolutions(int[] samplesIndices,
                                                                    List<Solution<Point3D>> solutions) {
                                solvePreliminarSolutions(samplesIndices, solutions);
                            }

                            @Override
                            public double computeResidual(Solution<Point3D> currentEstimation, int i) {
                                return residual(currentEstimation, i);
                            }

                            @Override
                            public boolean isReady() {
                                return RANSACRobustRangingAndRssiRadioSourceEstimator3D.this.isReady();

                return KnownBiasTurntableGyroscopeCalibrator.MINIMUM_MEASUREMENTS_GENERAL;
            }
        }
    }

    /**
     * Indicates whether calibrator is ready to start.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    public boolean isReady() {
        return mMeasurements != null
                && mMeasurements.size() >= getMinimumRequiredMeasurements();
    }

    /**
     * Indicates whether calibrator is currently running or not.
     *
     * @return true if calibrator is running, false otherwise.
     */
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Returns amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @return amount of progress variation before notifying a progress change during
     * calibration.
     */
    public float getProgressDelta() {
        return mProgressDelta;
    }

    /**
     * Sets amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @param progressDelta amount of progress variation before notifying a progress
     *                      change during calibration.
     * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setProgressDelta(float progressDelta) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (progressDelta < MIN_PROGRESS_DELTA ||
                progressDelta > MAX_PROGRESS_DELTA) {
            throw new IllegalArgumentException();
        }
        mProgressDelta = progressDelta;
    }

    /**
     * Returns amount of confidence expressed as a value between 0.0 and 1.0
     * (which is equivalent to 100%). The amount of confidence indicates the probability
     * that the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @return amount of confidence as a value between 0.0 and 1.0.
     */
    public double getConfidence() {
        return mConfidence;
    }

    /**
     * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
     * equivalent to 100%). The amount of confidence indicates the probability that
     * the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @param confidence confidence to be set as a value between 0.0 and 1.0.
     * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setConfidence(double confidence) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
            throw new IllegalArgumentException();
        }
        mConfidence = confidence;
    }

    /**
     * Returns maximum allowed number of iterations. If maximum allowed number of
     * iterations is achieved without converging to a result when calling calibrate(),
     * a RobustEstimatorException will be raised.
     *
     * @return maximum allowed number of iterations.
     */
    public int getMaxIterations() {
        return mMaxIterations;
    }

    /**
     * Sets maximum allowed number of iterations. When the maximum number of iterations
     * is exceeded, result will not be available, however an approximate result will be
     * available for retrieval.
     *
     * @param maxIterations maximum allowed number of iterations to be set.
     * @throws IllegalArgumentException if provided value is less than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setMaxIterations(int maxIterations) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (maxIterations < MIN_ITERATIONS) {
            throw new IllegalArgumentException();
        }
        mMaxIterations = maxIterations;
    }

    /**
     * Gets data related to inliers found after estimation.
     *
     * @return data related to inliers found after estimation.
     */
    public InliersData getInliersData() {
        return mInliersData;
    }

    /**
     * Indicates whether result must be refined using a non-linear solver over found inliers.
     *
     * @return true to refine result, false to simply use result found by robust estimator
     * without further refining.
     */
    public boolean isResultRefined() {
        return mRefineResult;
    }

    /**
     * Specifies whether result must be refined using a non-linear solver over found inliers.
     *
     * @param refineResult true to refine result, false to simply use result found by robust
     *                     estimator without further refining.
     * @throws LockedException if calibrator is currently running.
     */
    public void setResultRefined(boolean refineResult) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mRefineResult = refineResult;
    }

    /**
     * Indicates whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @return true if covariance must be kept after refining result, false otherwise.
     */
    public boolean isCovarianceKept() {
        return mKeepCovariance;
    }

    /**
     * Specifies whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @param keepCovariance true if covariance must be kept after refining result,
     *                       false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCovarianceKept(boolean keepCovariance) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mKeepCovariance = keepCovariance;
    }

    /**
     * Returns quality scores corresponding to each measurement.
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    public double[] getQualityScores() {
        return null;
    }

    /**
     * Sets quality scores corresponding to each measurement.
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
    }

    /**
     * Estimates gyroscope calibration parameters containing bias, scale factors,
     * cross-coupling errors and G-dependent coupling.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    public abstract void calibrate() throws LockedException, NotReadyException, CalibrationException;

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {

            final RobustKnownFrameAccelerometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, listener);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final RANSACRobustEstimator<PreliminaryResult> innerEstimator =
                new RANSACRobustEstimator<>(new RANSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return RANSACRobustKnownFrameAccelerometerCalibrator.super.isReady();

        super(position, measurements, commonAxisUsed, bias, initialMa, listener);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        mGravityNorm = computeGravityNorm();

        final RANSACRobustEstimator<PreliminaryResult> innerEstimator =
                new RANSACRobustEstimator<>(new RANSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return RANSACRobustKnownBiasAndPositionAccelerometerCalibrator.super.isReady();

    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMa() {
        return mEstimatedMa;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated covariance matrix for estimated calibration solution.
     * This is only available when result has been refined and covariance
     * is kept.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #getMinimumRequiredMeasurements()}.
     *
     * @return size of subsets to be checked during robust estimation.
     */
    public int getPreliminarySubsetSize() {
        return mPreliminarySubsetSize;
    }

    /**
     * Sets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #getMinimumRequiredMeasurements()}.
     *
     * @param preliminarySubsetSize size of subsets to be checked during robust estimation.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is less than {@link #getMinimumRequiredMeasurements()}.
     */
    public void setPreliminarySubsetSize(int preliminarySubsetSize) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (preliminarySubsetSize < getMinimumRequiredMeasurements()) {
            throw new IllegalArgumentException();
        }

        mPreliminarySubsetSize = preliminarySubsetSize;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    public abstract void calibrate() throws LockedException, NotReadyException, CalibrationException;

    /**
     * Returns method being used for robust estimation.
     *
     * @return method being used for robust estimation.
     */
    public abstract RobustEstimatorMethod getMethod();

    /**
     * Creates a robust accelerometer calibrator.
     *
     * @param method robust estimator method.
     * @return a robust accelerometer calibrator.
     */
    public static RobustKnownBiasAndPositionAccelerometerCalibrator create(

    public HomogeneousLinearLeastSquaresLateration2DSolver(Circle[] circles,
                                                           LaterationSolverListener<Point2D> listener) {
        super(listener);
        internalSetCircles(circles);
    }

    /**
     * Gets circles defined by provided positions and distances.
     * @return circles defined by provided positions and distances.
     */
    public Circle[] getCircles() {
        if (mPositions == null) {
            return null;
        }

        Circle[] result = new Circle[mPositions.length];

        for (int i = 0; i < mPositions.length; i++) {
            result[i] = new Circle(mPositions[i], mDistances[i]);
        }
        return result;
    }

    /**
     * Sets circles defining positions and euclidean distances.
     * @param circles circles defining positions and distances.
     * @throws IllegalArgumentException if circles is null or length of array of circles
     * is less than 2.
     * @throws LockedException if instance is busy solving the lateration problem.
     */
    public void setCircles(Circle[] circles) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetCircles(circles);
    }

    /**
     * Gets number of dimensions of provided points.
     * @return always returns 2 dimensions.
     */
    @Override
    public int getNumberOfDimensions() {
        return Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH;
    }

    /**
     * Minimum required number of positions and distances.
     * At least 3 positions and distances will be required to linearly solve a 2D problem.
     * @return minimum required number of positions and distances.
     */
    @Override
    public int getMinRequiredPositionsAndDistances() {
        return Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH + 1;
    }

    /**
     * Gets estimated position.
     * @return estimated position.
     */
    @Override
    public Point2D getEstimatedPosition() {
        if (mEstimatedPositionCoordinates == null) {
            return null;
        }

        InhomogeneousPoint2D position = new InhomogeneousPoint2D();
        getEstimatedPosition(position);
        return position;
    }

    /**
     * Internally sets circles defining positions and euclidean distances.
     * @param circles circles defining positions and distances.
     * @throws IllegalArgumentException if circles is null or length of array of circles
     * is less than 3.
     */
    private void internalSetCircles(Circle[] circles) {
        if (circles == null || circles.length < getMinRequiredPositionsAndDistances()) {
            throw new IllegalArgumentException();
        }

        Point2D[] positions = new Point2D[circles.length];
        double[] distances = new double[circles.length];
        for (int i = 0; i < circles.length; i++) {
            Circle circle = circles[i];
            positions[i] = circle.getCenter();
            distances[i] = circle.getRadius();
        }

        internalSetPositionsAndDistances(positions, distances);
    }
}

    public HomogeneousLinearLeastSquaresLateration3DSolver(Sphere[] spheres,
                                                           LaterationSolverListener<Point3D> listener) {
        super(listener);
        internalSetSpheres(spheres);
    }

    /**
     * Gets spheres defined by provided positions and distances.
     * @return spheres defined by provided positions and distances.
     */
    public Sphere[] getSpheres() {
        if (mPositions == null) {
            return null;
        }

        Sphere[] result = new Sphere[mPositions.length];

        for (int i = 0; i < mPositions.length; i++) {
            result[i] = new Sphere(mPositions[i], mDistances[i]);
        }
        return result;
    }

    /**
     * Sets spheres defining positions and euclidean distances.
     * @param spheres spheres defining positions and distances.
     * @throws IllegalArgumentException if spheres is null or length of array of spheres
     * is less than 2.
     * @throws LockedException if instance is busy solving the lateration problem.
     */
    public void setSpheres(Sphere[] spheres) throws LockedException {
        if(isLocked()) {
            throw new LockedException();
        }
        internalSetSpheres(spheres);
    }

    /**
     * Gets number of dimensions of provided points.
     * @return always returns 2 dimensions.
     */
    @Override
    public int getNumberOfDimensions() {
        return Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH;
    }

    /**
     * Minimum required number of positions and distances.
     * At least 4 positions and distances will be required to linearly solve a 3D problem.
     * @return minimum required number of positions and distances.
     */
    @Override
    public int getMinRequiredPositionsAndDistances() {
        return Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH + 1;
    }

    /**
     * Gets estimated position.
     * @return estimated position.
     */
    @Override
    public Point3D getEstimatedPosition() {
        if (mEstimatedPositionCoordinates == null) {
            return null;
        }

        InhomogeneousPoint3D position = new InhomogeneousPoint3D();
        getEstimatedPosition(position);
        return position;
    }

    /**
     * Internally sets spheres defining positions and euclidean distances.
     * @param spheres spheres defining positions and distances.
     * @throws IllegalArgumentException if spheres is null or length of array of spheres
     * is less than 4.
     */
    private void internalSetSpheres(Sphere[] spheres) {
        if (spheres == null || spheres.length < getMinRequiredPositionsAndDistances()) {
            throw new IllegalArgumentException();
        }

        Point3D[] positions = new Point3D[spheres.length];
        double[] distances = new double[spheres.length];
        for (int i = 0; i < spheres.length; i++) {
            Sphere sphere = spheres[i];
            positions[i] = sphere.getCenter();
            distances[i] = sphere.getRadius();
        }

        internalSetPositionsAndDistances(positions, distances);
    }
}

        mBiasZ = bias.getElementAtIndex(2);
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @return initial scale factors and cross coupling errors matrix.
     */
    public Matrix getInitialMa() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS,
                    BodyKinematics.COMPONENTS);
            getInitialMa(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets initial scale factors and cross coupling errors matrix.
     *
     * @param result instance where data will be stored.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     */
    public void getInitialMa(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS ||
                result.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mInitialSx);
        result.setElementAtIndex(1, mInitialMyx);
        result.setElementAtIndex(2, mInitialMzx);

        result.setElementAtIndex(3, mInitialMxy);
        result.setElementAtIndex(4, mInitialSy);
        result.setElementAtIndex(5, mInitialMzy);

        result.setElementAtIndex(6, mInitialMxz);
        result.setElementAtIndex(7, mInitialMyz);
        result.setElementAtIndex(8, mInitialSz);
    }

    /**
     * Sets initial scale factors and cross coupling errors matrix.
     *
     * @param initialMa initial scale factors and cross coupling errors matrix.
     * @throws IllegalArgumentException if provided matrix is not 3x3.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setInitialMa(final Matrix initialMa) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (initialMa.getRows() != BodyKinematics.COMPONENTS ||
                initialMa.getColumns() != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }

        mInitialSx = initialMa.getElementAtIndex(0);
        mInitialMyx = initialMa.getElementAtIndex(1);
        mInitialMzx = initialMa.getElementAtIndex(2);

        mInitialMxy = initialMa.getElementAtIndex(3);
        mInitialSy = initialMa.getElementAtIndex(4);
        mInitialMzy = initialMa.getElementAtIndex(5);

        mInitialMxz = initialMa.getElementAtIndex(6);
        mInitialMyz = initialMa.getElementAtIndex(7);
        mInitialSz = initialMa.getElementAtIndex(8);
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @return position where body kinematics measures have been taken.
     */
    public ECEFPosition getEcefPosition() {

            final KnownFrameAccelerometerLinearLeastSquaresCalibratorListener listener)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Indicates whether calibrator is ready to start the calibration.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return mMeasurements != null
                && mMeasurements.size() >= MINIMUM_MEASUREMENTS;
    }

    /**
     * Indicates whether calibrator is currently running or not.
     *
     * @return true if calibrator is running, false otherwise.
     */
    @Override
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if calibration fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }

        if (!isReady()) {
            throw new NotReadyException();
        }

        try {
            mRunning = true;

            if (mListener != null) {
                mListener.onCalibrateStart(this);
            }

            if (mCommonAxisUsed) {
                calibrateCommonAxis();
            } else {
                calibrateGeneral();
            }

            if (mListener != null) {
                mListener.onCalibrateEnd(this);
            }

        } catch (final AlgebraException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets array containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @return array containing x,y,z components of estimated accelerometer biases.
     */
    @Override
    public double[] getEstimatedBiases() {
        return mEstimatedBiases;
    }

    /**
     * Gets array containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @param result instance where estimated accelerometer biases will be stored.
     * @return true if result instance was updated, false otherwise (when estimation
     * is not yet available).
     */
    @Override
    public boolean getEstimatedBiases(final double[] result) {
        if (mEstimatedBiases != null) {
            System.arraycopy(mEstimatedBiases, 0, result,
                    0, mEstimatedBiases.length);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets column matrix containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @return column matrix containing x,y,z components of estimated accelerometer
     * biases.
     */
    @Override
    public Matrix getEstimatedBiasesAsMatrix() {
        return mEstimatedBiases != null ? Matrix.newFromArray(mEstimatedBiases) : null;
    }

    /**
     * Gets column matrix containing x,y,z components of estimated accelerometer biases
     * expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be stored.
     * @return true if result was updated, false otherwise.
     * @throws WrongSizeException if provided result instance has invalid size.
     */
    @Override
    public boolean getEstimatedBiasesAsMatrix(final Matrix result)
            throws WrongSizeException {
        if (mEstimatedBiases != null) {
            result.fromArray(mEstimatedBiases);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Gets x coordinate of estimated accelerometer bias expressed in meters per
     * squared second (m/s^2).
     *
     * @return x coordinate of estimated accelerometer bias or null if not available.
     */
    @Override
    public Double getEstimatedBiasFx() {

    }

    /**
     * Gets x coordinate of estimated ECEF user position.
     *
     * @param result instance where x coordinate of estimated ECEF user position will be stored.
     */
    public void getDistanceX(final Distance result) {
        result.setValue(mX);
        result.setUnit(DistanceUnit.METER);
    }

    /**
     * Gets x coordinate of estimated ECEF user position.
     *
     * @return x coordinate of estimated ECEF user position.
     */
    public Distance getDistanceX() {
        return new Distance(mX, DistanceUnit.METER);
    }

    /**
     * Sets x coordinate of estimated ECEF user position.
     *
     * @param x x coordinate of estimated ECEF user position.
     */
    public void setDistanceX(final Distance x) {
        mX = DistanceConverter.convert(x.getValue().doubleValue(), x.getUnit(),
                DistanceUnit.METER);
    }

    /**
     * Gets y coordinate of estimated ECEF user position.
     *
     * @param result instance where y coordinate of estimated ECEF user position will be stored.
     */
    public void getDistanceY(final Distance result) {
        result.setValue(mY);
        result.setUnit(DistanceUnit.METER);
    }

    /**
     * Gets y coordinate of estimated ECEF user position.
     *
     * @return y coordinate of estimated ECEF user position.
     */
    public Distance getDistanceY() {
        return new Distance(mY, DistanceUnit.METER);
    }

    /**
     * Sets y coordinate of estimated ECEF user position.
     *
     * @param y y coordinate of estimated ECEF user position.
     */
    public void setDistanceY(final Distance y) {
        mY = DistanceConverter.convert(y.getValue().doubleValue(), y.getUnit(),
                DistanceUnit.METER);
    }

    /**
     * Gets z coordinate of estimated ECEF user position.
     *
     * @param result instance where z coordinate of estimated ECEF user position will be stored.
     */
    public void getDistanceZ(final Distance result) {
        result.setValue(mZ);
        result.setUnit(DistanceUnit.METER);
    }

    /**
     * Gets z coordinate of estimated ECEF user position.
     *
     * @return z coordinate of estimated ECEF user position.
     */
    public Distance getDistanceZ() {
        return new Distance(mZ, DistanceUnit.METER);
    }

    /**
     * Sets z coordinate of estimated ECEF user position.
     *
     * @param z z coordinate of estimated ECEF user position.
     */
    public void setDistanceZ(final Distance z) {
        mZ = DistanceConverter.convert(z.getValue().doubleValue(), z.getUnit(),
                DistanceUnit.METER);
    }

    /**
     * Sets coordinates of estimated ECEF user position.
     *
     * @param x x coordinate.
     * @param y y coordinate.
     * @param z z coordinate.
     */
    public void setPositionCoordinates(final Distance x, final Distance y, final Distance z) {
        setDistanceX(x);
        setDistanceY(y);
        setDistanceZ(z);
    }

    /**
     * Gets x coordinate of estimated ECEF user velocity.
     *
     * @param result instance where x coordinate of estimated ECEF user velocity will
     *               be stored.
     */
    public void getSpeedX(final Speed result) {

    }

    /**
     * Gets estimated located radio source with estimated transmitted power.
     *
     * @return estimated located radio source with estimated transmitted power or null.
     */
    @Override
    @SuppressWarnings("unchecked")
    public RadioSourceWithPowerAndLocated<Point2D> getEstimatedRadioSource() {
        List<? extends RssiReadingLocated<S, Point2D>> readings = getReadings();
        if (readings == null || readings.isEmpty()) {
            return null;
        }
        S source = readings.get(0).getSource();

        Point2D estimatedPosition = getEstimatedPosition();
        if (estimatedPosition == null) {
            return null;
        }

        Matrix estimatedPositionCovariance = getEstimatedPositionCovariance();

        Double transmittedPowerVariance =
                getEstimatedTransmittedPowerVariance();
        Double transmittedPowerStandardDeviation = transmittedPowerVariance != null ?
                Math.sqrt(transmittedPowerVariance) : null;

        Double pathlossExponentVariance =
                getEstimatedPathLossExponentVariance();
        Double pathlossExponentStandardDeviation = pathlossExponentVariance != null ?
                Math.sqrt(pathlossExponentVariance) : null;

        if (source instanceof WifiAccessPoint) {
            WifiAccessPoint accessPoint = (WifiAccessPoint) source;
            return new WifiAccessPointWithPowerAndLocated2D(accessPoint.getBssid(),
                    source.getFrequency(), accessPoint.getSsid(),
                    getEstimatedTransmittedPowerdBm(),
                    transmittedPowerStandardDeviation,
                    getEstimatedPathLossExponent(),
                    pathlossExponentStandardDeviation,
                    estimatedPosition,
                    estimatedPositionCovariance);
        } else if(source instanceof Beacon) {
            Beacon beacon = (Beacon) source;
            return new BeaconWithPowerAndLocated2D(beacon.getIdentifiers(),
                    getEstimatedTransmittedPowerdBm(), beacon.getFrequency(),
                    beacon.getBluetoothAddress(), beacon.getBeaconTypeCode(),
                    beacon.getManufacturer(), beacon.getServiceUuid(),
                    beacon.getBluetoothName(),
                    getEstimatedPathLossExponent(),
                    transmittedPowerStandardDeviation,
                    pathlossExponentStandardDeviation,
                    estimatedPosition, estimatedPositionCovariance);
        }else {
            return null;
        }
    }

                    mEstimatedMa.getElementAt(i, i) - 1.0);
        }

        mEstimatedCovariance = mFitter.getCovar();
        mEstimatedChiSq = mFitter.getChisq();
    }

    /**
     * Computes estimated true specific force squared norm using current measured
     * specific force and provided parameters for the general case.
     * This method is internally executed during gradient estimation and
     * Levenberg-Marquardt fitting needed for calibration computation.
     *
     * @param params array containing current parameters for the general purpose case.
     *               Must have length 9.
     * @return estimated true specific force squared norm.
     * @throws EvaluationException if there are numerical instabilities.
     */
    private double evaluateGeneral(final double[] params) throws EvaluationException {
        final double m11 = params[0];
        final double m21 = params[1];
        final double m31 = params[2];

        final double m12 = params[3];
        final double m22 = params[4];
        final double m32 = params[5];

        final double m13 = params[6];
        final double m23 = params[7];
        final double m33 = params[8];

        return evaluate(m11, m21, m31, m12, m22, m32,
                m13, m23, m33);
    }

    /**
     * Computes estimated true specific force squared norm using current measured
     * specific force and provided parameters when common z-axis is assumed.
     * This method is internally executed during gradient estimation and
     * Levenberg-Marquardt fitting needed for calibration computation.
     *
     * @param params array containing current parameters for the common z-axis case.
     *               Must have length 6.
     * @return estimated true specific force squared norm.
     * @throws EvaluationException if there are numerical instabilities.
     */
    private double evaluateCommonAxis(final double[] params) throws EvaluationException {
        final double m11 = params[0];

        final double m12 = params[1];
        final double m22 = params[2];

        final double m13 = params[3];
        final double m23 = params[4];
        final double m33 = params[5];

        return evaluate(m11, 0.0, 0.0, m12, m22, 0.0,
                m13, m23, m33);
    }

    /**
     * Computes estimated true specific force squared norm using current measured
     * specific force and provided parameters.
     * This method is internally executed during gradient estimation and
     * Levenberg-Marquardt fitting needed for calibration computation.
     *
     * @param m11 element 1,1 of cross-coupling error matrix.
     * @param m21 element 2,1 of cross-coupling error matrix.
     * @param m31 element 3,1 of cross-coupling error matrix.
     * @param m12 element 1,2 of cross-coupling error matrix.
     * @param m22 element 2,2 of cross-coupling error matrix.
     * @param m32 element 3,2 of cross-coupling error matrix.
     * @param m13 element 1,3 of cross-coupling error matrix.
     * @param m23 element 2,3 of cross-coupling error matrix.
     * @param m33 element 3,3 of cross-coupling error matrix.
     * @return estimated true specific force squared norm.
     * @throws EvaluationException if there are numerical instabilities.
     */
    private double evaluate(final double m11, final double m21, final double m31,
                            final double m12, final double m22, final double m32,
                            final double m13, final double m23, final double m33)
            throws EvaluationException {

        // fmeas = M*(ftrue + b)

        // ftrue = M^-1*fmeas - b

        try {
            if (mFmeas == null) {

    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated calibration solution.
     * This is only available when result has been refined and covariance
     * is kept.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #MINIMUM_MEASUREMENTS}.
     *
     * @return size of subsets to be checked during robust estimation.
     */
    public int getPreliminarySubsetSize() {
        return mPreliminarySubsetSize;
    }

    /**
     * Sets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #MINIMUM_MEASUREMENTS}.
     *
     * @param preliminarySubsetSize size of subsets to be checked during robust estimation.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is less than {@link #MINIMUM_MEASUREMENTS}.
     */
    public void setPreliminarySubsetSize(int preliminarySubsetSize) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (preliminarySubsetSize < MINIMUM_MEASUREMENTS) {

    public void setQualityScores(final double[] qualityScores)
            throws LockedException {
    }

    /**
     * Estimates gyroscope calibration parameters containing bias, scale factors,
     * cross-coupling errors and G-dependent coupling.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    public abstract void calibrate() throws LockedException, NotReadyException, CalibrationException;

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #getMinimumRequiredSequences()}.
     *
     * @return size of subsets to be checked during robust estimation.
     */
    public int getPreliminarySubsetSize() {
        return mPreliminarySubsetSize;
    }

    /**
     * Sets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #getMinimumRequiredSequences}.
     *
     * @param preliminarySubsetSize size of subsets to be checked during robust estimation.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is less than
     *                                  {@link #getMinimumRequiredSequences}.
     */
    public void setPreliminarySubsetSize(

            mState = new INSLooselyCoupledKalmanState();
        }
    }

    /**
     * Corrects provided kinematics by taking into account currently estimated
     * specific force and angular rate biases.
     * This method stores the result into the variable member containing corrected
     * kinematics values.
     *
     * @param kinematics kinematics instance to be corrected.
     */
    private void correctKinematics(final BodyKinematics kinematics) {
        if (mCorrectedKinematics == null) {
            mCorrectedKinematics = new BodyKinematics();
        }

        final double accelBiasX;
        final double accelBiasY;
        final double accelBiasZ;
        final double gyroBiasX;
        final double gyroBiasY;
        final double gyroBiasZ;
        if (mState != null) {
            accelBiasX = getValueOrZero(mState.getAccelerationBiasX());
            accelBiasY = getValueOrZero(mState.getAccelerationBiasY());
            accelBiasZ = getValueOrZero(mState.getAccelerationBiasZ());
            gyroBiasX = getValueOrZero(mState.getGyroBiasX());
            gyroBiasY = getValueOrZero(mState.getGyroBiasY());
            gyroBiasZ = getValueOrZero(mState.getGyroBiasZ());
        } else {
            accelBiasX = 0.0;
            accelBiasY = 0.0;
            accelBiasZ = 0.0;
            gyroBiasX = 0.0;
            gyroBiasY = 0.0;
            gyroBiasZ = 0.0;
        }

        final double fx = kinematics.getFx();
        final double fy = kinematics.getFy();
        final double fz = kinematics.getFz();
        final double angularRateX = kinematics.getAngularRateX();
        final double angularRateY = kinematics.getAngularRateY();
        final double angularRateZ = kinematics.getAngularRateZ();

        mCorrectedKinematics.setSpecificForceCoordinates(
                fx - accelBiasX, fy - accelBiasY, fz - accelBiasZ);
        mCorrectedKinematics.setAngularRateCoordinates(
                angularRateX - gyroBiasX,
                angularRateY - gyroBiasY,
                angularRateZ - gyroBiasZ);
    }

    /**
     * Returns provided value if not infinity and not NaN.
     *
     * @param value value to be returned.
     * @return value or 0.0.
     */
    private double getValueOrZero(final double value) {
        if (Double.isNaN(value) || Double.isInfinite(value)) {
            return 0.0;
        } else {
            return value;
        }
    }
}

        final Matrix a = new Matrix(rows, COMMON_Z_AXIS_UNKNOWNS);
        final Matrix b = new Matrix(rows, 1);
        int i = 0;
        for (final FrameBodyMagneticFluxDensity measurement : mMeasurements) {
            final BodyMagneticFluxDensity measuredMagneticFluxDensity =
                    measurement.getMagneticFluxDensity();

            // estimate Earth magnetic flux density at frame position and
            // timestamp using WMM
            final ECEFFrame ecefFrame = measurement.getFrame();
            ECEFtoNEDFrameConverter.convertECEFtoNED(ecefFrame, nedFrame);

            final double year = measurement.getYear();

            final double latitude = nedFrame.getLatitude();
            final double longitude = nedFrame.getLongitude();
            final double height = nedFrame.getHeight();

            nedFrame.getCoordinateTransformation(cbn);
            cbn.inverse(cnb);

            wmmEstimator.estimate(latitude, longitude, height, year, earthB);

            // estimate expected body mangetic flux density taking into
            // account body attitude (inverse of frame orientation) and
            // estimated Earth magnetic flux density
            BodyMagneticFluxDensityEstimator.estimate(earthB, cnb,
                    expectedMagneticFluxDensity);

            final double bMeasX = measuredMagneticFluxDensity.getBx();
            final double bMeasY = measuredMagneticFluxDensity.getBy();
            final double bMeasZ = measuredMagneticFluxDensity.getBz();

            final double bTrueX = expectedMagneticFluxDensity.getBx();
            final double bTrueY = expectedMagneticFluxDensity.getBy();
            final double bTrueZ = expectedMagneticFluxDensity.getBz();

            a.setElementAt(i, 0, 1.0);
            a.setElementAt(i, 3, bTrueX);
            a.setElementAt(i, 6, bTrueY);
            a.setElementAt(i, 7, bTrueZ);

            b.setElementAtIndex(i, bMeasX - bTrueX);
            i++;

            a.setElementAt(i, 1, 1.0);
            a.setElementAt(i, 4, bTrueY);
            a.setElementAt(i, 8, bTrueZ);

        mBiasZ = convertAcceleration(biasZ);
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containint coordinates of known bias.
     */
    @Override
    public double[] getBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void getBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mBiasX;
        result[1] = mBiasY;
        result[2] = mBiasZ;
    }

    /**
     * Sets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param bias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void setBias(final double[] bias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (bias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mBiasX = bias[0];
        mBiasY = bias[1];
        mBiasZ = bias[2];
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @return known accelerometer bias as a column matrix.
     */
    @Override
    public Matrix getBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void getBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mBiasX);
        result.setElementAtIndex(1, mBiasY);
        result.setElementAtIndex(2, mBiasZ);
    }

    /**
     * Sets known accelerometer bias as a column matrix.
     *
     * @param bias accelerometer bias to be set.
     * @throws LockedException          if calibrator is currently running
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void setBias(final Matrix bias) throws LockedException {

            RobustRangingRadioSourceEstimatorListener<S, Point2D> listener) {
        super(readings, initialPosition, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this solver is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than minimum required samples.
     * @throws LockedException if robust solver is locked because an
     * estimation is already in progress.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mReadings.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position for a radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        PROSACRobustEstimator<Solution<Point2D>> innerEstimator =

        } catch (final AlgebraException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors.
     */
    @Override
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing g-dependent cross biases.
     */
    @Override
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

                initialMyz, initialMzx, initialMzy);
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @return array containint coordinates of known bias.
     */
    @Override
    public double[] getBias() {
        final double[] result = new double[BodyKinematics.COMPONENTS];
        getBias(result);
        return result;
    }

    /**
     * Gets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void getBias(final double[] result) {
        if (result.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        result[0] = mBiasX;
        result[1] = mBiasY;
        result[2] = mBiasZ;
    }

    /**
     * Sets known accelerometer bias as an array.
     * Array values are expressed in meters per squared second (m/s^2).
     *
     * @param bias known accelerometer bias.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided array does not have length 3.
     */
    @Override
    public void setBias(final double[] bias) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        if (bias.length != BodyKinematics.COMPONENTS) {
            throw new IllegalArgumentException();
        }
        mBiasX = bias[0];
        mBiasY = bias[1];
        mBiasZ = bias[2];
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @return known accelerometer bias as a column matrix.
     */
    @Override
    public Matrix getBiasAsMatrix() {
        Matrix result;
        try {
            result = new Matrix(BodyKinematics.COMPONENTS, 1);
            getBiasAsMatrix(result);
        } catch (final WrongSizeException ignore) {
            // never happens
            result = null;
        }
        return result;
    }

    /**
     * Gets known accelerometer bias as a column matrix.
     *
     * @param result instance where result data will be copied to.
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void getBiasAsMatrix(final Matrix result) {
        if (result.getRows() != BodyKinematics.COMPONENTS
                || result.getColumns() != 1) {
            throw new IllegalArgumentException();
        }
        result.setElementAtIndex(0, mBiasX);
        result.setElementAtIndex(1, mBiasY);
        result.setElementAtIndex(2, mBiasZ);
    }

    /**
     * Sets known accelerometer bias as a column matrix.
     *
     * @param bias accelerometer bias to be set.
     * @throws LockedException          if calibrator is currently running
     * @throws IllegalArgumentException if provided matrix is not 3x1.
     */
    @Override
    public void setBias(final Matrix bias) throws LockedException {

            return false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {
        return mEstimatedChiSq;
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed
     * for both the accelerometer and gyroscope and when G-dependent cross
     * biases are being estimated.
     *
     * @throws AlgebraException                         if accelerometer parameters prevent fixing
     *                                                  measured accelerometer values due to numerical instabilities.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateCommonAxisAndGDependentCrossBiases()
            throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException {

            mRunning = false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {
        return mEstimatedChiSq;
    }

    /**
     * Internal method to perform calibration when common z-axis is assumed
     * for both the accelerometer and gyroscope and when G-dependent cross
     * biases are being estimated.
     *
     * @throws AlgebraException                         if accelerometer parameters prevent fixing
     *                                                  measured accelerometer values due to numerical instabilities.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateCommonAxisAndGDependentCrossBiases()
            throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException {

    }

    /**
     * Returns amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @return amount of progress variation before notifying a progress change during
     * calibration.
     */
    public float getProgressDelta() {
        return mProgressDelta;
    }

    /**
     * Sets amount of progress variation before notifying a progress change during
     * calibration.
     *
     * @param progressDelta amount of progress variation before notifying a progress
     *                      change during calibration.
     * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setProgressDelta(float progressDelta) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (progressDelta < MIN_PROGRESS_DELTA ||
                progressDelta > MAX_PROGRESS_DELTA) {
            throw new IllegalArgumentException();
        }
        mProgressDelta = progressDelta;
    }

    /**
     * Returns amount of confidence expressed as a value between 0.0 and 1.0
     * (which is equivalent to 100%). The amount of confidence indicates the probability
     * that the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @return amount of confidence as a value between 0.0 and 1.0.
     */
    public double getConfidence() {
        return mConfidence;
    }

    /**
     * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
     * equivalent to 100%). The amount of confidence indicates the probability that
     * the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @param confidence confidence to be set as a value between 0.0 and 1.0.
     * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setConfidence(double confidence) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
            throw new IllegalArgumentException();
        }
        mConfidence = confidence;
    }

    /**
     * Returns maximum allowed number of iterations. If maximum allowed number of
     * iterations is achieved without converging to a result when calling calibrate(),
     * a RobustEstimatorException will be raised.
     *
     * @return maximum allowed number of iterations.
     */
    public int getMaxIterations() {
        return mMaxIterations;
    }

    /**
     * Sets maximum allowed number of iterations. When the maximum number of iterations
     * is exceeded, result will not be available, however an approximate result will be
     * available for retrieval.
     *
     * @param maxIterations maximum allowed number of iterations to be set.
     * @throws IllegalArgumentException if provided value is less than 1.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setMaxIterations(int maxIterations) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (maxIterations < MIN_ITERATIONS) {
            throw new IllegalArgumentException();
        }
        mMaxIterations = maxIterations;
    }

    /**
     * Gets data related to inliers found after estimation.
     *
     * @return data related to inliers found after estimation.
     */
    public InliersData getInliersData() {
        return mInliersData;
    }

    /**
     * Indicates whether result must be refined using a non-linear solver over found inliers.
     *
     * @return true to refine result, false to simply use result found by robust estimator
     * without further refining.
     */
    public boolean isResultRefined() {
        return mRefineResult;
    }

    /**
     * Specifies whether result must be refined using a non-linear solver over found inliers.
     *
     * @param refineResult true to refine result, false to simply use result found by robust
     *                     estimator without further refining.
     * @throws LockedException if calibrator is currently running.
     */
    public void setResultRefined(boolean refineResult) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mRefineResult = refineResult;
    }

    /**
     * Indicates whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @return true if covariance must be kept after refining result, false otherwise.
     */
    public boolean isCovarianceKept() {
        return mKeepCovariance;
    }

    /**
     * Specifies whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @param keepCovariance true if covariance must be kept after refining result,
     *                       false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCovarianceKept(boolean keepCovariance) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mKeepCovariance = keepCovariance;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    public double[] getQualityScores() {
        return null;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMa() {

                                                 RobustMixedPositionEstimatorListener<Point3D> listener) {
        this(sources, fingerprint, listener);
        internalSetSourceQualityScores(sourceQualityScores);
        internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
    }

    /**
     * Returns quality scores corresponding to each radio source.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each radio source.
     */
    public double[] getSourceQualityScores() {
        return mSourceQualityScores;
    }

    /**
     * Sets quality scores corresponding to each radio source.
     * The larger the score value the better the quality of the radio source.
     *
     * @param sourceQualityScores quality scores corresponding to each radio source.
     * @throws LockedException          if this instance is locked.
     * @throws IllegalArgumentException if provided quality scores length is smaller
     *                                  than minimum required samples.
     */
    public void setSourceQualityScores(double[] sourceQualityScores)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetSourceQualityScores(sourceQualityScores);
    }

    /**
     * Gets quality scores corresponding to each reading within provided fingerprint.
     * The larger the score value the better the quality of the reading.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each reading within provided
     * fingerprint.
     */
    public double[] getFingerprintReadingsQualityScores() {
        return mFingerprintReadingsQualityScores;
    }

    /**
     * Sets quality scores corresponding to each reading within provided fingerprint.
     * The larger the score value the better the quality of the reading.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @param fingerprintReadingsQualityScores quality scores corresponding to each
     *                                         reading within provided fingerprint.
     * @throws LockedException          if this instance is locked.
     * @throws IllegalArgumentException if provided quality scores length is smaller
     *                                  than minimum required samples.
     */
    public void setFingerprintReadingsQualityScores(
            double[] fingerprintReadingsQualityScores) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return ((PROMedSRobustLateration3DSolver) mLaterationSolver).
                getStopThreshold();
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException if this solver is locked.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        ((PROMedSRobustLateration3DSolver) mLaterationSolver).
                setStopThreshold(stopThreshold);
    }

    /**
     * Returns method being used for robust estimation.
     * @return method being used for robust estimation.
     */
    @Override
    public RobustEstimatorMethod getMethod() {
        return RobustEstimatorMethod.PROMedS;
    }

    /**
     * Initializes robust lateration solver.
     */
    private void init() {
        mLaterationSolver = new PROMedSRobustLateration3DSolver(
                mTrilaterationSolverListener);
    }

    /**
     * Sets quality scores corresponding to each provided located radio source.
     * This method is used internally and does not check whether instance is
     * locked or not.
     * @param sourceQualityScores quality scores to be set.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than 3 samples.
     */
    private void internalSetSourceQualityScores(double[] sourceQualityScores) {
        if (sourceQualityScores == null ||
                sourceQualityScores.length < getMinRequiredSources()) {
            throw new IllegalArgumentException();
        }

        mSourceQualityScores = sourceQualityScores;

        buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
    }

    /**
     * Sets quality scores corresponding to each provided reading within provided
     * fingerprint.
     * This method is used internally and does not check whether instance is locked
     * or not.
     * @param fingerprintReadingsQualityScores quality scores to be set.
     * @throws IllegalArgumentException if provided quality scores lengt is
     * smaller than 3 samples.
     */
    private void internalSetFingerprintReadingsQualityScores(
            double[] fingerprintReadingsQualityScores) {
        if (fingerprintReadingsQualityScores == null ||
                fingerprintReadingsQualityScores.length < getMinRequiredSources()) {
            throw new IllegalArgumentException();
        }

        mFingerprintReadingsQualityScores = fingerprintReadingsQualityScores;

        buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
    }
}

    }

    /**
     * Internally sets circles defining positions and euclidean distances.
     * @param circles circles defining positions and distances.
     * @throws IllegalArgumentException if circles is null or length of array of circles
     * is less than 2.
     */
    private void internalSetCircles(Circle[] circles) {
        if (circles == null || circles.length < getMinRequiredPositionsAndDistances()) {
            throw new IllegalArgumentException();
        }

        Point2D[] positions = new Point2D[circles.length];
        double[] distances = new double[circles.length];
        for (int i = 0; i < circles.length; i++) {
            Circle circle = circles[i];
            positions[i] = circle.getCenter();
            distances[i] = circle.getRadius();
        }

        internalSetPositionsAndDistances(positions, distances);
    }

    /**
     * Internally sets circles defining positions and euclidean distances along with the standard
     * deviations of provided circles radii.
     * @param circles circles defining positions and distances.
     * @param radiusStandardDeviations standard deviations of circles radii.
     * @throws IllegalArgumentException if circles is null, length of arrays is less than
     * 2 or don't have the same length.
     */
    private void internalSetCirclesAndStandardDeviations(Circle[] circles,
            double[] radiusStandardDeviations) {
        if (circles == null || circles.length < getMinRequiredPositionsAndDistances()) {
            throw new IllegalArgumentException();
        }

        if (radiusStandardDeviations == null) {
            throw new IllegalArgumentException();
        }

        if (radiusStandardDeviations.length != circles.length) {
            throw new IllegalArgumentException();
        }

        Point2D[] positions = new Point2D[circles.length];
        double[] distances = new double[circles.length];
        for (int i = 0; i < circles.length; i++) {
            Circle circle = circles[i];
            positions[i] = circle.getCenter();
            distances[i] = circle.getRadius();
        }

        internalSetPositionsDistancesAndStandardDeviations(positions, distances,
                radiusStandardDeviations);
    }

    }

    /**
     * Indicates whether estimator is locked during estimation.
     *
     * @return true if estimator is locked, false otherwise.
     */
    public boolean isLocked() {
        return mLocked;
    }

    /**
     * Returns amount of progress variation before notifying a progress change during
     * estimation.
     *
     * @return amount of progress variation before notifying a progress change during
     * estimation.
     */
    public float getProgressDelta() {
        return mProgressDelta;
    }

    /**
     * Sets amount of progress variation before notifying a progress change during
     * estimation.
     *
     * @param progressDelta amount of progress variation before notifying a progress
     *                      change during estimation.
     * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
     * @throws LockedException if this estimator is locked.
     */
    public void setProgressDelta(float progressDelta) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (progressDelta < MIN_PROGRESS_DELTA ||
                progressDelta > MAX_PROGRESS_DELTA) {
            throw new IllegalArgumentException();
        }
        mProgressDelta = progressDelta;
    }

    /**
     * Returns amount of confidence expressed as a value between 0.0 and 1.0
     * (which is equivalent to 100%). The amount of confidence indicates the probability
     * that the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @return amount of confidence as a value between 0.0 and 1.0.
     */
    public double getConfidence() {
        return mConfidence;
    }

    /**
     * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
     * equivalent to 100%). The amount of confidence indicates the probability that
     * the estimated result is correct. Usually this value will be close to 1.0, but
     * not exactly 1.0.
     *
     * @param confidence confidence to be set as a value between 0.0 and 1.0.
     * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
     * @throws LockedException if estimator is locked.
     */
    public void setConfidence(double confidence) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
            throw new IllegalArgumentException();
        }
        mConfidence = confidence;
    }

    /**
     * Returns maximum allowed number of iterations. If maximum allowed number of
     * iterations is achieved without converging to a result when calling estimate(),
     * a RobustEstimatorException will be raised.
     *
     * @return maximum allowed number of iterations.
     */
    public int getMaxIterations() {
        return mMaxIterations;
    }

    /**
     * Sets maximum allowed number of iterations. When the maximum number of iterations
     * is exceeded, result will not be available, however an approximate result will be
     * available for retrieval.
     *
     * @param maxIterations maximum allowed number of iterations to be set.
     * @throws IllegalArgumentException if provided value is less than 1.
     * @throws LockedException if this estimator is locked.
     */
    public void setMaxIterations(int maxIterations) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (maxIterations < MIN_ITERATIONS) {
            throw new IllegalArgumentException();
        }
        mMaxIterations = maxIterations;
    }

    /**
     * Gets data related to inliers found after estimation.
     *
     * @return data related to inliers found after estimation.
     */
    public InliersData getInliersData() {
        return mInliersData;
    }

    /**
     * Indicates whether result must be refined using a non-linear solver over found inliers.
     *
     * @return true to refine result, false to simply use result found by robust estimator
     * without further refining.
     */
    public boolean isResultRefined() {
        return mRefineResult;
    }

    /**
     * Specifies whether result must be refined using a non-linear solver over found inliers.
     *
     * @param refineResult true to refine result, false to simply use result found by robust
     *                     estimator without further refining.
     * @throws LockedException if estimator is locked.
     */
    public void setResultRefined(boolean refineResult) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mRefineResult = refineResult;
    }

    /**
     * Indicates whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @return true if covariance must be kept after refining result, false otherwise.
     */
    public boolean isCovarianceKept() {
        return mKeepCovariance;
    }

    /**
     * Specifies whether covariance must be kept after refining result.
     * This setting is only taken into account if result is refined.
     *
     * @param keepCovariance true if covariance must be kept after refining result,
     *                       false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setCovarianceKept(boolean keepCovariance) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mKeepCovariance = keepCovariance;
    }

    /**
     * Gets signal readings belonging to the same radio source.
     *
     * @return signal readings belonging to the same radio source.
     */
    public List<? extends R> getReadings() {

            RobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
        this(readings, initialPosition, initialTransmittedPowerdBm,
                listener);
        mInitialPathLossExponent = initialPathLossExponent;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPowerdBm() {
        return mInitialTransmittedPowerdBm;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     * @param initialTransmittedPowerdBm initial transmitted power to start the
     *                                   estimation of radio source transmitted
     *                                   power.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialTransmittedPowerdBm(Double initialTransmittedPowerdBm)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialTransmittedPowerdBm = initialTransmittedPowerdBm;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPower() {
        return mInitialTransmittedPowerdBm != null ?
                Utils.dBmToPower(mInitialTransmittedPowerdBm) : null;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     * @param initialTransmittedPower initial transmitted power to start the
     *                                estimation of radio source transmitted power.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setInitialTransmittedPower(Double initialTransmittedPower)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (initialTransmittedPower != null) {
            if (initialTransmittedPower < 0.0) {
                throw new IllegalArgumentException();
            }
            mInitialTransmittedPowerdBm = Utils.powerTodBm(
                    initialTransmittedPower);
        } else {
            mInitialTransmittedPowerdBm = null;
        }
    }

    /**
     * Gets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     * @return initial position to start the estimation of radio source position.
     */
    public P getInitialPosition() {
        return mInitialPosition;
    }

    /**
     * Sets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     * @param initialPosition initial position to start the estimation of radio
     *                        source position.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPosition(P initialPosition) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPosition = initialPosition;
    }

    /**
     * Gets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     * @return initial path loss exponent.
     */
    public double getInitialPathLossExponent() {
        return mInitialPathLossExponent;
    }

    /**
     * Sets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     * @param initialPathLossExponent initial path loss exponent.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPathLossExponent(double initialPathLossExponent)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPathLossExponent = initialPathLossExponent;
    }

    /**
     * Indicates whether transmitted power estimation is enabled or not.
     * @return true if transmitted power estimation is enabled, false otherwise.
     */
    public boolean isTransmittedPowerEstimationEnabled() {
        return mTransmittedPowerEstimationEnabled;
    }

    /**
     * Specifies whether transmitted power estimation is enabled or not.
     * @param transmittedPowerEstimationEnabled true if transmitted power estimation is enabled,
     *                                          false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setTransmittedPowerEstimationEnabled(boolean transmittedPowerEstimationEnabled)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mTransmittedPowerEstimationEnabled = transmittedPowerEstimationEnabled;
    }

    /**
     * Indicates whether path loss estimation is enabled or not.
     * @return true if path loss estimation is enabled, false otherwise.
     */
    public boolean isPathLossEstimationEnabled() {

    public void setMeasurements(final Collection<StandardDeviationBodyKinematics> measurements)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMeasurements = measurements;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @return position where body kinematics measures have been taken.
     */
    public ECEFPosition getEcefPosition() {
        return mPosition;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * ECEF coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final ECEFPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = position;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @return position where body kinematics measures have been taken or null if
     * not available.
     */
    public NEDPosition getNedPosition() {
        final NEDPosition result = new NEDPosition();
        return getNedPosition(result) ? result : null;
    }

    /**
     * Gets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param result instance where result will be stored.
     * @return true if NED position could be computed, false otherwise.
     */
    public boolean getNedPosition(final NEDPosition result) {

        if (mPosition != null) {
            final NEDVelocity velocity = new NEDVelocity();
            ECEFtoNEDPositionVelocityConverter.convertECEFtoNED(
                    mPosition.getX(), mPosition.getY(), mPosition.getZ(),
                    0.0, 0.0, 0.0, result, velocity);
            return true;
        } else {
            return false;
        }
    }

    /**
     * Sets position where body kinematics measures have been taken expressed in
     * NED coordinates.
     *
     * @param position position where body kinematics measures have been taken.
     * @throws LockedException if calibrator is currently running.
     */
    public void setPosition(final NEDPosition position) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mPosition = convertPosition(position);
    }

    /**
     * Indicates whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @return true if z-axis is assumed to be common for accelerometer and gyroscope,
     * false otherwise.
     */
    public boolean isCommonAxisUsed() {
        return mCommonAxisUsed;
    }

    /**
     * Specifies whether z-axis is assumed to be common for accelerometer and
     * gyroscope.
     * When enabled, this eliminates 3 variables from Ma matrix.
     *
     * @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
     *                       and gyroscope, false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mCommonAxisUsed = commonAxisUsed;
    }

    /**
     * Indicates whether G-dependent cross biases are being estimated
     * or not.
     * When enabled, this adds 9 variables from Gg matrix.
     *
     * @return true if G-dependent cross biases will be estimated,
     * false otherwise.
     */
    public boolean isGDependentCrossBiasesEstimated() {
        return mEstimateGDependentCrossBiases;
    }

    /**
     * Specifies whether G-dependent cross biases are being estimated
     * or not.
     * When enabled, this adds 9 variables from Gg matrix.
     *
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @throws LockedException if calibrator is currently running.
     */
    public void setGDependentCrossBiasesEstimated(
            final boolean estimateGDependentCrossBiases)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mEstimateGDependentCrossBiases = estimateGDependentCrossBiases;
    }

    /**
     * Gets listener to handle events raised by this estimator.
     *
     * @return listener to handle events raised by this estimator.
     */
    public KnownBiasTurntableGyroscopeCalibratorListener getListener() {

                initialPathLossExponent, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on distance between estimated position and distances
     * provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException if this solver is locked.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each pair of
     * positions and distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each pair of positions and
     * distances (i.e. sample).
     * The larger the score value the better the quality of the sample.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behaviour.
     *
     * @param qualityScores quality scores corresponding to each pair of
     *                      matched points.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than minimum required samples.
     * @throws LockedException if robust solver is locked because an
     * estimation is already in progress.
     */
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mReadings.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResidualsEnabled() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if this solver is locked.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        PROSACRobustEstimator<Solution<Point3D>> innerEstimator =

        } catch (final AlgebraException | IOException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    @Override
    public Matrix getEstimatedMm() {
        return mEstimatedMm;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 1) : null;
    }

    public void internalSetSpheres(Sphere[] spheres) {
        if (spheres == null || spheres.length < getMinRequiredPositionsAndDistances()) {
            throw new IllegalArgumentException();
        }

        Point3D[] positions = new Point3D[spheres.length];
        double[] distances = new double[spheres.length];
        for (int i = 0; i < spheres.length; i++) {
            Sphere sphere = spheres[i];
            positions[i] = sphere.getCenter();
            distances[i] = sphere.getRadius();
        }

        internalSetPositionsAndDistances(positions, distances);
    }

    /**
     * Internally sets spheres defining positions and euclidean distances along with the standard
     * deviations of provided spheres radii.
     * @param spheres spheres defining positions and distances.
     * @param radiusStandardDeviations standard deviations of circles radii.
     * @throws IllegalArgumentException if spheres is null, length of arrays is less than
     * 2 or don't have the same length.
     */
    private void internalSetSpheresAndStandardDeviations(Sphere[] spheres,
            double[] radiusStandardDeviations) {
        if (spheres == null || spheres.length < getMinRequiredPositionsAndDistances()) {
            throw new IllegalArgumentException();
        }

        if (radiusStandardDeviations == null) {
            throw new IllegalArgumentException();
        }

        if (radiusStandardDeviations.length != spheres.length) {
            throw new IllegalArgumentException();
        }

        Point3D[] positions = new Point3D[spheres.length];
        double[] distances = new double[spheres.length];
        for (int i = 0; i < spheres.length; i++) {
            Sphere sphere = spheres[i];
            positions[i] = sphere.getCenter();
            distances[i] = sphere.getRadius();
        }

        internalSetPositionsDistancesAndStandardDeviations(positions, distances,
                radiusStandardDeviations);

    }

        List<? extends RssiReadingLocated<S, Point2D>> readings = getReadings();
        if (readings == null || readings.isEmpty()) {
            return null;
        }
        S source = readings.get(0).getSource();

        Point2D estimatedPosition = getEstimatedPosition();
        if (estimatedPosition == null) {
            return null;
        }

        Matrix estimatedPositionCovariance = getEstimatedPositionCovariance();

        Double transmittedPowerVariance =
                getEstimatedTransmittedPowerVariance();
        Double transmittedPowerStandardDeviation = transmittedPowerVariance != null ?
                Math.sqrt(transmittedPowerVariance) : null;

        Double pathlossExponentVariance =
                getEstimatedPathLossExponentVariance();
        Double pathlossExponentStandardDeviation = pathlossExponentVariance != null ?
                Math.sqrt(pathlossExponentVariance) : null;

        if (source instanceof WifiAccessPoint) {
            WifiAccessPoint accessPoint = (WifiAccessPoint) source;
            return new WifiAccessPointWithPowerAndLocated2D(accessPoint.getBssid(),
                    source.getFrequency(), accessPoint.getSsid(),
                    getEstimatedTransmittedPowerdBm(),
                    transmittedPowerStandardDeviation,
                    getEstimatedPathLossExponent(),
                    pathlossExponentStandardDeviation,
                    estimatedPosition,
                    estimatedPositionCovariance);
        } else if(source instanceof Beacon) {
            Beacon beacon = (Beacon) source;
            return new BeaconWithPowerAndLocated2D(beacon.getIdentifiers(),
                    getEstimatedTransmittedPowerdBm(), beacon.getFrequency(),
                    beacon.getBluetoothAddress(), beacon.getBeaconTypeCode(),
                    beacon.getManufacturer(), beacon.getServiceUuid(),
                    beacon.getBluetoothName(),
                    getEstimatedPathLossExponent(),
                    transmittedPowerStandardDeviation,
                    pathlossExponentStandardDeviation,
                    estimatedPosition, estimatedPositionCovariance);
        }else {
            return null;
        }
    }

    /**
     * Solves preliminar solution for a subset of samples.
     *
     * @param samplesIndices indices of subset samples.
     * @param solutions instance where solution will be stored.
     */
    @Override
    protected void solvePreliminarSolutions(int[] samplesIndices,

                        mFmeasZ = point[2];

                        gradientEstimator.gradient(params, derivatives);

                        return evaluateCommonAxis(params);
                    }
                });

        setInputData();

        mFitter.fit();

        final double[] result = mFitter.getA();

        final double bx = result[0];
        final double by = result[1];
        final double bz = result[2];

        final double m11 = result[3];

        final double m12 = result[4];
        final double m22 = result[5];

        final double m13 = result[6];
        final double m23 = result[7];
        final double m33 = result[8];

        final Matrix b = new Matrix(BodyKinematics.COMPONENTS, 1);
        b.setElementAtIndex(0, bx);
        b.setElementAtIndex(1, by);
        b.setElementAtIndex(2, bz);

        final Matrix m = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        m.setElementAtIndex(0, m11);
        m.setElementAtIndex(1, 0.0);
        m.setElementAtIndex(2, 0.0);

        m.setElementAtIndex(3, m12);
        m.setElementAtIndex(4, m22);
        m.setElementAtIndex(5, 0.0);

        m.setElementAtIndex(6, m13);
        m.setElementAtIndex(7, m23);
        m.setElementAtIndex(8, m33);

        setResult(m, b);
    }

    /**
     * Makes proper conversion of internal cross-coupling and bias matrices.
     *
     * @param m internal cross-coupling matrix.
     * @param b internal bias matrix.
     * @throws AlgebraException if a numerical instability occurs.
     */
    private void setResult(final Matrix m, final Matrix b) throws AlgebraException {

        } catch (final AlgebraException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets estimated accelerometer scale factors and ross coupling errors.
     * This is the product of matrix Ta containing cross coupling errors and Ka
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Ka = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Ta = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix
     * becomes upper diagonal:
     * <pre>
     *     Ma = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated accelerometer scale factors and cross coupling errors, or null
     * if not available.
     */
    @Override
    public Matrix getEstimatedMa() {
        return mEstimatedMa;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMa != null ?
                mEstimatedMa.getElementAt(2, 1) : null;
    }

                return evaluateCommonAxis(i, params);
            }
        });

        setInputData();

        mFitter.fit();

        final double[] result = mFitter.getA();

        final double bx = result[0];
        final double by = result[1];
        final double bz = result[2];

        final double m11 = result[3];

        final double m12 = result[4];
        final double m22 = result[5];

        final double m13 = result[6];
        final double m23 = result[7];
        final double m33 = result[8];

        final Matrix b = new Matrix(BodyKinematics.COMPONENTS, 1);
        b.setElementAtIndex(0, bx);
        b.setElementAtIndex(1, by);
        b.setElementAtIndex(2, bz);

        final Matrix m = new Matrix(BodyKinematics.COMPONENTS,
                BodyKinematics.COMPONENTS);
        m.setElementAtIndex(0, m11);
        m.setElementAtIndex(1, 0.0);
        m.setElementAtIndex(2, 0.0);

        m.setElementAtIndex(3, m12);
        m.setElementAtIndex(4, m22);
        m.setElementAtIndex(5, 0.0);

        m.setElementAtIndex(6, m13);
        m.setElementAtIndex(7, m23);
        m.setElementAtIndex(8, m33);

        setResult(m, b);
    }

    /**
     * Internal method to perform general calibration when G-dependant cross
     * biases are ignored.
     *
     * @throws AlgebraException                         if accelerometer parameters prevent fixing
     *                                                  measured accelerometer values due to numerical instabilities.
     * @throws FittingException                         if no convergence to solution is found.
     * @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
     */
    private void calibrateGeneral()
            throws AlgebraException, FittingException,
            com.irurueta.numerical.NotReadyException {

            RobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
        super(readings, initialPosition, initialTransmittedPowerdBm,
                initialPathLossExponent, listener);
    }

    /**
     * Returns threshold to determine whether samples are inliers or not.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not.
     *
     * @param threshold threshold to be set.
     * @throws IllegalArgumentException if provided value is equal or less than
     * zero.
     * @throws LockedException if robust estimator is locked because an
     * estimation is already in progress.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        MSACRobustEstimator<Solution<Point2D>> innerEstimator =
                new MSACRobustEstimator<>(
                        new MSACRobustEstimatorListener<Solution<Point2D>>() {
                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mReadings.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return Math.max(mPreliminarySubsetSize, getMinReadings());
                    }

                    @Override
                    public void estimatePreliminarSolutions(int[] samplesIndices,
                            List<Solution<Point2D>> solutions) {
                        solvePreliminarSolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(Solution<Point2D> currentEstimation, int i) {
                        return residual(currentEstimation, i);
                    }

                    @Override
                    public boolean isReady() {
                        return MSACRobustRangingAndRssiRadioSourceEstimator2D.this.isReady();

            RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
        super(readings, initialPosition, initialTransmittedPowerdBm,
                initialPathLossExponent, listener);
    }

    /**
     * Returns threshold to determine whether samples are inliers or not.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not.
     *
     * @param threshold threshold to be set.
     * @throws IllegalArgumentException if provided value is equal or less than
     * zero.
     * @throws LockedException if robust estimator is locked because an
     * estimation is already in progress.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Robustly estimates position, transmitted power and pathloss exponent for a
     * radio source.
     *
     * @throws LockedException if instance is busy during estimation.
     * @throws NotReadyException if estimator is not ready.
     * @throws RobustEstimatorException if estimation fails for any reason
     * (i.e. numerical instability, no solution available, etc).
     */
    @Override
    public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        MSACRobustEstimator<Solution<Point3D>> innerEstimator =
                new MSACRobustEstimator<>(
                        new MSACRobustEstimatorListener<Solution<Point3D>>() {
                            @Override
                            public double getThreshold() {
                                return mThreshold;
                            }

                            @Override
                            public int getTotalSamples() {
                                return mReadings.size();
                            }

                            @Override
                            public int getSubsetSize() {
                                return Math.max(mPreliminarySubsetSize, getMinReadings());
                            }

                            @Override
                            public void estimatePreliminarSolutions(int[] samplesIndices,
                                                                    List<Solution<Point3D>> solutions) {
                                solvePreliminarSolutions(samplesIndices, solutions);
                            }

                            @Override
                            public double computeResidual(Solution<Point3D> currentEstimation, int i) {
                                return residual(currentEstimation, i);
                            }

                            @Override
                            public boolean isReady() {
                                return MSACRobustRangingAndRssiRadioSourceEstimator3D.this.isReady();

        this(measurements, bias, commonAxisUsed, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final PROSACRobustEstimator<Matrix> innerEstimator =

        return new Speed(getVelocityNorm(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along North axis.
     *
     * @param result instance where North velocity coordinate will be stored.
     */
    public void getSpeedN(final Speed result) {
        result.setValue(mVn);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along North axis.
     *
     * @return North velocity coordinate.
     */
    public Speed getSpeedN() {
        return new Speed(mVn, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along North axis.
     *
     * @param speedN North velocity coordinate to be set.
     */
    public void setSpeedN(final Speed speedN) {
        mVn = SpeedConverter.convert(speedN.getValue().doubleValue(),
                speedN.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along East axis.
     *
     * @param result instance where East velocity coordinate will be stored.
     */
    public void getSpeedE(final Speed result) {
        result.setValue(mVe);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along East axis.
     *
     * @return East velocity coordinate.
     */
    public Speed getSpeedE() {
        return new Speed(mVe, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along East axis.
     *
     * @param speedE East velocity coordinate to be set.
     */
    public void setSpeedE(final Speed speedE) {
        mVe = SpeedConverter.convert(speedE.getValue().doubleValue(),
                speedE.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along Down axis.
     *
     * @param result instance where Down velocity coordinate will be stored.
     */
    public void getSpeedD(final Speed result) {
        result.setValue(mVd);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along Down axis.
     *
     * @return Down velocity coordinate.
     */
    public Speed getSpeedD() {
        return new Speed(mVd, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets coordinate of velocity of body frame with respect ECEF frame and
     * resolved along Down axis.
     *
     * @param speedD Down velocity coordinate to be set.
     */
    public void setSpeedD(final Speed speedD) {
        mVd = SpeedConverter.convert(speedD.getValue().doubleValue(),
                speedD.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets velocity coordinates of body frame resolved along North, East, Down
     * axes.
     *
     * @param speedN North velocity coordinate.
     * @param speedE East velocity coordinate.
     * @param speedD Down velocity coordinate.
     */
    public void setSpeedCoordinates(final Speed speedN, final Speed speedE,

        List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings = getReadings();
        if (readings == null || readings.isEmpty()) {
            return null;
        }
        S source = readings.get(0).getSource();

        Point3D estimatedPosition = getEstimatedPosition();
        if (estimatedPosition == null) {
            return null;
        }

        Matrix estimatedPositionCovariance = getEstimatedPositionCovariance();

        Double transmittedPowerVariance =
                getEstimatedTransmittedPowerVariance();
        Double transmittedPowerStandardDeviation = transmittedPowerVariance != null ?
                Math.sqrt(transmittedPowerVariance) : null;

        Double pathlossExponentVariance =
                getEstimatedPathLossExponentVariance();
        Double pathlossExponentStandardDeviation = pathlossExponentVariance != null ?
                Math.sqrt(pathlossExponentVariance) : null;

        if (source instanceof WifiAccessPoint) {
            WifiAccessPoint accessPoint = (WifiAccessPoint) source;
            return new WifiAccessPointWithPowerAndLocated3D(accessPoint.getBssid(),
                    source.getFrequency(), accessPoint.getSsid(),
                    getEstimatedTransmittedPowerdBm(),
                    transmittedPowerStandardDeviation,
                    getEstimatedPathLossExponent(),
                    pathlossExponentStandardDeviation,
                    estimatedPosition,
                    estimatedPositionCovariance);
        } else if(source instanceof Beacon) {
            Beacon beacon = (Beacon) source;
            return new BeaconWithPowerAndLocated3D(beacon.getIdentifiers(),
                    getEstimatedTransmittedPowerdBm(), beacon.getFrequency(),
                    beacon.getBluetoothAddress(), beacon.getBeaconTypeCode(),
                    beacon.getManufacturer(), beacon.getServiceUuid(),
                    beacon.getBluetoothName(),
                    getEstimatedPathLossExponent(),
                    transmittedPowerStandardDeviation,
                    pathlossExponentStandardDeviation,
                    estimatedPosition, estimatedPositionCovariance);
        }else {
            return null;
        }
    }

            mRunning = false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors.
     */
    @Override
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing g-dependent cross biases.
     */
    @Override
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

        final double g33 = unknowns.getElementAtIndex(14);

        fillMg(sx, sy, sz, mxy, mxz, 0.0, myz, 0.0, 0.0);
        fillGg(g11, g12, g13, g21, g22, g23, g31, g32, g33);
    }

    /**
     * Internal method to perform general calibration.
     *
     * @throws AlgebraException if there are numerical errors.
     */
    private void calibrateGeneral() throws AlgebraException {
        // The gyroscope model is:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue

        // Hence:
        // [Ωmeasx] = [bx] + ( [1   0   0] + [sx    mxy    mxz]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [0   1   0]   [myx   sy     myz]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [0   0   1]   [mzx   mzy    sz ]  [Ωtruez]   [g31   g32   g33][ftruez]

        // [Ωmeasx] = [bx] + ( [1+sx  mxy    mxz ]) [Ωtruex] + [g11   g12   g13][ftruex]
        // [Ωmeasy]   [by]     [myx   1+sy   myz ]  [Ωtruey]   [g21   g22   g23][ftruey]
        // [Ωmeasz]   [bz]     [mzx   mzy    1+sz]  [Ωtruez]   [g31   g32   g33][ftruez]

        // Ωmeasx = bx + (1+sx) * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy = by + myx * Ωtruex + (1+sy) * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz = bz + mzx * Ωtruex + mzy * Ωtruey + (1+sz) * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // Where the unknowns are: sx, sy, sz, mxy mxz, myx, myz, mzx, mzy, g11, g12, g13, g21, g22, g23,
        // g31, g32, g33
        // Reordering:
        // Ωmeasx = bx + Ωtruex + sx * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy = by + myx * Ωtruex + Ωtruey + sy * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz = bz + mzx * Ωtruex + mzy * Ωtruey + Ωtruez + sz * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // Ωmeasx - Ωtruex - bx = sx * Ωtruex + mxy * Ωtruey + mxz * Ωtruez + g11 * ftruex + g12 * ftruey + g13 * ftruez
        // Ωmeasy - Ωtruey - by = myx * Ωtruex + sy * Ωtruey + myz * Ωtruez + g21 * ftruex * g22 * ftruey + g23 * ftruez
        // Ωmeasz - Ωtruez - bz = mzx * Ωtruex + mzy * Ωtruey + sz * Ωtruez + g31 * ftruex + g32 * ftruey + g33 * ftruez

        // [Ωtruex  0       0       Ωtruey  Ωtruez  0       0       0       0       ftruex  ftruey  ftruez  0       0       0       0       0       0     ][sx ] =  [Ωmeasx - Ωtruex - bx]
        // [0       Ωtruey  0       0       0       Ωtruex  Ωtruez  0       0       0       0       0       ftruex  ftruey  ftruez  0       0       0     ][sy ]    [Ωmeasy - Ωtruey - by]
        // [0       0       Ωtruez  0       0       0       0       Ωtruex  Ωtruey  0       0       0       0       0       0       ftruex  ftruey  ftruez][sz ]    [Ωmeasz - Ωtruez - bz]
        //                                                                                                                                                 [mxy]
        //                                                                                                                                                 [mxz]
        //                                                                                                                                                 [myx]
        //                                                                                                                                                 [myz]
        //                                                                                                                                                 [mzx]
        //                                                                                                                                                 [mzy]
        //                                                                                                                                                 [g11]
        //                                                                                                                                                 [g12]
        //                                                                                                                                                 [g13]
        //                                                                                                                                                 [g21]
        //                                                                                                                                                 [g22]
        //                                                                                                                                                 [g23]
        //                                                                                                                                                 [g31]
        //                                                                                                                                                 [g32]
        //                                                                                                                                                 [g33]

        final BodyKinematics expectedKinematics = new BodyKinematics();

        final int rows = EQUATIONS_PER_MEASUREMENT * mMeasurements.size();
        final Matrix a = new Matrix(rows, GENERAL_UNKNOWNS);
        final Matrix b = new Matrix(rows, 1);
        int i = 0;
        for (final FrameBodyKinematics measurement : mMeasurements) {
            final BodyKinematics measuredKinematics = measurement.getKinematics();
            final ECEFFrame ecefFrame = measurement.getFrame();
            final ECEFFrame previousEcefFrame = measurement.getPreviousFrame();
            final double timeInterval = measurement.getTimeInterval();

            ECEFKinematicsEstimator.estimateKinematics(timeInterval, ecefFrame,
                    previousEcefFrame, expectedKinematics);

            final double omegaMeasX = measuredKinematics.getAngularRateX();
            final double omegaMeasY = measuredKinematics.getAngularRateY();
            final double omegaMeasZ = measuredKinematics.getAngularRateZ();

            final double omegaTrueX = expectedKinematics.getAngularRateX();
            final double omegaTrueY = expectedKinematics.getAngularRateY();
            final double omegaTrueZ = expectedKinematics.getAngularRateZ();

            final double fTrueX = expectedKinematics.getFx();
            final double fTrueY = expectedKinematics.getFy();
            final double fTrueZ = expectedKinematics.getFz();

            a.setElementAt(i, 0, omegaTrueX);

            mRunning = false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors.
     */
    @Override
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     *
     * @return a 3x3 matrix containing g-dependent cross biases.
     */
    @Override
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

            mB.setElementAtIndex(2, bz);

            mG.setElementAt(0, 0, g11);
            mG.setElementAt(1, 0, g21);
            mG.setElementAt(2, 0, g31);

            mG.setElementAt(0, 1, g12);
            mG.setElementAt(1, 1, g22);
            mG.setElementAt(2, 1, g32);

            mG.setElementAt(0, 2, g13);
            mG.setElementAt(1, 2, g23);
            mG.setElementAt(2, 2, g33);

            // fix kinematics
            int numItems = measuredSequence.getItemsCount();
            final List<StandardDeviationTimedBodyKinematics> measuredItems = measuredSequence.getSortedItems();
            final List<StandardDeviationTimedBodyKinematics> fixedItems = fixedSequence.getSortedItems();
            for (int j = 0; j < numItems; j++) {
                final StandardDeviationTimedBodyKinematics measuredItem = measuredItems.get(j);
                final StandardDeviationTimedBodyKinematics fixedItem = fixedItems.get(j);

                fixKinematics(measuredItem.getKinematics(), fixedItem.getKinematics());
            }


            // integrate fixed sequence to obtain attitude change
            QuaternionIntegrator.integrateGyroSequence(fixedSequence, mQ);

            mStartPoint.setInhomogeneousCoordinates(
                    mPoint[0], mPoint[1], mPoint[2]);
            mQ.inverse();
            mQ.rotate(mStartPoint, mEndPoint);

            mExpectedEndPoint.setInhomogeneousCoordinates(
                    mPoint[3], mPoint[4], mPoint[5]);

            return mExpectedEndPoint.distanceTo(mEndPoint);

        } catch (AlgebraException e) {

    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #getMinimumRequiredSequences()}.
     *
     * @return size of subsets to be checked during robust estimation.
     */
    public int getPreliminarySubsetSize() {
        return mPreliminarySubsetSize;
    }

    /**
     * Sets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #getMinimumRequiredSequences}.
     *
     * @param preliminarySubsetSize size of subsets to be checked during robust estimation.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is less than
     *                                  {@link #getMinimumRequiredSequences}.
     */
    public void setPreliminarySubsetSize(

    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated calibration solution.
     * This is only available when result has been refined and covariance
     * is kept.
     *
     * @return estimated covariance matrix for estimated position.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #MINIMUM_MEASUREMENTS}.
     *
     * @return size of subsets to be checked during robust estimation.
     */
    public int getPreliminarySubsetSize() {
        return mPreliminarySubsetSize;
    }

    /**
     * Sets size of subsets to be checked during robust estimation.
     * This has to be at least {@link #MINIMUM_MEASUREMENTS}.
     *
     * @param preliminarySubsetSize size of subsets to be checked during robust estimation.
     * @throws LockedException          if calibrator is currently running.
     * @throws IllegalArgumentException if provided value is less than {@link #MINIMUM_MEASUREMENTS}.
     */
    public void setPreliminarySubsetSize(int preliminarySubsetSize) throws LockedException {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

    }

    /**
     * Gets x coordinate of velocity resolved in ECEF axes.
     *
     * @param result instance where x coordinate of velocity will be stored.
     */
    public void getSpeedX(final Speed result) {
        result.setValue(mVx);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets x coordinate of velocity resolved in ECEF axes.
     *
     * @return x coordinate of velocity.
     */
    public Speed getSpeedX() {
        return new Speed(mVx, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets x coordinate of velocity resolved in ECEF axes.
     *
     * @param vx x coordinate of velocity.
     */
    public void setSpeedX(final Speed vx) {
        mVx = SpeedConverter.convert(vx.getValue().doubleValue(),
                vx.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets y coordinate of velocity resolved in ECEF axes.
     *
     * @param result instance where y coordinate of velocity will be stored.
     */
    public void getSpeedY(final Speed result) {
        result.setValue(mVy);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets y coordinate of velocity resolved in ECEF axes.
     *
     * @return y coordinate of velocity.
     */
    public Speed getSpeedY() {
        return new Speed(mVy, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets y coordinate of velocity resolved in ECEF axes.
     *
     * @param vy y coordinate of velocity.
     */
    public void setSpeedY(final Speed vy) {
        mVy = SpeedConverter.convert(vy.getValue().doubleValue(),
                vy.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets z coordinate of velocity resolved in ECEF axes.
     *
     * @param result instance where z coordinate of velocity will be stored.
     */
    public void getSpeedZ(final Speed result) {
        result.setValue(mVz);
        result.setUnit(SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Gets z coordinate of velocity resolved in ECEF axes.
     *
     * @return z coordinate of velocity.
     */
    public Speed getSpeedZ() {
        return new Speed(mVz, SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets z coordinate of velocity resolved in ECEF axes.
     *
     * @param vz z coordinate of velocity.
     */
    public void setSpeedZ(final Speed vz) {
        mVz = SpeedConverter.convert(vz.getValue().doubleValue(),
                vz.getUnit(), SpeedUnit.METERS_PER_SECOND);
    }

    /**
     * Sets coordinates of velocity resolved in ECEF axes.
     *
     * @param vx x coordinate of velocity.
     * @param vy y coordinate of velocity.
     * @param vz z coordinate of velocity.
     */
    public void setSpeedCoordinates(final Speed vx, final Speed vy, final Speed vz) {

        this(measurements, bias, commonAxisUsed, listener);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured specific forces and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Returns quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each sample.
     */
    @Override
    public double[] getQualityScores() {
        return mQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided sample.
     * The larger the score value the better the quality of the sample.
     *
     * @param qualityScores quality scores corresponding to each sample.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than minimum required samples.
     * @throws LockedException          if calibrator is currently running.
     */
    @Override
    public void setQualityScores(double[] qualityScores)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        internalSetQualityScores(qualityScores);
    }

    /**
     * Indicates whether solver is ready to find a solution.
     *
     * @return true if solver is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return super.isReady() && mQualityScores != null &&
                mQualityScores.length == mMeasurements.size();
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

            final EasyGyroscopeCalibratorListener listener)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Gets minimum number of required sequences.
     *
     * @return minimum number of required sequences.
     */
    public int getMinimumRequiredSequences() {
        if (mCommonAxisUsed) {
            if (mEstimateGDependentCrossBiases) {
                return MINIMUM_SEQUENCES_COMMON_Z_AXIS_AND_CROSS_BIASES;
            } else {
                return MINIMUM_SEQUENCES_COMMON_Z_AXIS;
            }
        } else {
            if (mEstimateGDependentCrossBiases) {
                return MINIMUM_SEQUENCES_GENERAL_AND_CROSS_BIASES;
            } else {
                return MINIMUM_SEQUENCES_GENERAL;
            }
        }
    }

    /**
     * Indicates whether calibrator is ready to start.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    public boolean isReady() {
        return mSequences != null
                && mSequences.size() >= getMinimumRequiredSequences();
    }

    /**
     * Indicates whether calibrator is currently running or not.
     *
     * @return true if calibrator is running, false otherwise.
     */
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Estimates gyroscope calibration parameters containing bias, scale factors,
     * cross-coupling errors and G-dependent coupling.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    public void calibrate() throws LockedException, NotReadyException,
            CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }

        if (!isReady()) {
            throw new NotReadyException();
        }

        try {
            mRunning = true;

            if (mListener != null) {
                mListener.onCalibrateStart(this);
            }

            if (mCommonAxisUsed) {
                if (mEstimateGDependentCrossBiases) {
                    calibrateCommonAxisAndGDependentCrossBiases();
                } else {
                    calibrateCommonAxis();
                }
            } else {
                if (mEstimateGDependentCrossBiases) {
                    calibrateGeneralAndGDependentCrossBiases();
                } else {
                    calibrateGeneral();
                }
            }

            if (mListener != null) {
                mListener.onCalibrateEnd(this);
            }

        } catch (final FittingException
                | AlgebraException
                | com.irurueta.numerical.NotReadyException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets array containing x,y,z components of estimated gyroscope biases
     * expressed in radians per second (rad/s).
     *
     * @return array containing x,y,z components of estimated gyroscope biases.
     */
    public double[] getEstimatedBiases() {

            mRunning = false;
        }
    }

    /**
     * Gets estimated gyroscope scale factors and cross coupling errors.
     * This is the product of matrix Tg containing cross coupling errors and Kg
     * containing scaling factors.
     * So that:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Kg = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tg = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the gyroscope z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
     * becomes upper diagonal:
     * <pre>
     *     Mg = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated gyroscope scale factors and cross coupling errors, or null
     * if not available.
     */
    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {

        internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
    }

    /**
     * Returns quality scores corresponding to each radio source.
     * The larger the score value the better the quality of the sample.
     *
     * @return quality scores corresponding to each radio source.
     */
    public double[] getSourceQualityScores() {
        return mSourceQualityScores;
    }

    /**
     * Sets quality scores corresponding to each radio source.
     * The larger the score value the better the quality of the radio source.
     *
     * @param sourceQualityScores quality scores corresponding to each radio source.
     * @throws LockedException          if this instance is locked.
     * @throws IllegalArgumentException if provided quality scores length is smaller
     *                                  than minimum required samples.
     */
    public void setSourceQualityScores(double[] sourceQualityScores)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetSourceQualityScores(sourceQualityScores);
    }

    /**
     * Gets quality scores corresponding to each reading within provided fingerprint.
     * The larger the score value the better the quality of the reading.
     * This implementation always returns null.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @return quality scores corresponding to each reading within provided
     * fingerprint.
     */
    public double[] getFingerprintReadingsQualityScores() {
        return mFingerprintReadingsQualityScores;
    }

    /**
     * Sets quality scores corresponding to each reading within provided fingerprint.
     * The larger the score value the better the quality of the reading.
     * This implementation makes no action.
     * Subclasses using quality scores must implement proper behavior.
     *
     * @param fingerprintReadingsQualityScores quality scores corresponding to each
     *                                         reading within provided fingerprint.
     * @throws LockedException          if this instance is locked.
     * @throws IllegalArgumentException if provided quality scores length is smaller
     *                                  than minimum required samples.
     */
    public void setFingerprintReadingsQualityScores(
            double[] fingerprintReadingsQualityScores) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return ((PROMedSRobustLateration3DSolver) mLaterationSolver).
                getStopThreshold();
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException if this solver is locked.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        ((PROMedSRobustLateration3DSolver) mLaterationSolver).
                setStopThreshold(stopThreshold);
    }

    /**
     * Returns method being used for robust estimation.
     * @return method being used for robust estimation.
     */
    @Override
    public RobustEstimatorMethod getMethod() {
        return RobustEstimatorMethod.PROMedS;
    }

    /**
     * Initializes robust lateration solver.
     */
    private void init() {
        mLaterationSolver = new PROMedSRobustLateration3DSolver(
                mTrilaterationSolverListener);
    }

    /**
     * Sets quality scores corresponding to each provided located radio source.
     * This method is used internally and does not check whether instance is
     * locked or not.
     * @param sourceQualityScores quality scores to be set.
     * @throws IllegalArgumentException if provided quality scores length
     * is smaller than 3 samples.
     */
    private void internalSetSourceQualityScores(double[] sourceQualityScores) {
        if (sourceQualityScores == null ||
                sourceQualityScores.length < getMinRequiredSources()) {
            throw new IllegalArgumentException();
        }

        mSourceQualityScores = sourceQualityScores;

        buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
    }

    /**
     * Sets quality scores corresponding to each provided reading within provided
     * fingerprint.
     * This method is used internally and does not check whether instance is locked
     * or not.
     * @param fingerprintReadingsQualityScores quality scores to be set.
     * @throws IllegalArgumentException if provided quality scores lengt is
     * smaller than 3 samples.
     */
    private void internalSetFingerprintReadingsQualityScores(
            double[] fingerprintReadingsQualityScores) {
        if (fingerprintReadingsQualityScores == null ||
                fingerprintReadingsQualityScores.length < getMinRequiredSources()) {
            throw new IllegalArgumentException();
        }

        mFingerprintReadingsQualityScores = fingerprintReadingsQualityScores;

        buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
    }
}

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    @Override
    public Matrix getEstimatedMm() {
        return mEstimatedMm;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 1) : null;
    }

    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    @Override
    public Matrix getEstimatedMm() {
        return mEstimatedMm;
    }

    /**
     * Gets estimated x-axis scale factor.
     *
     * @return estimated x-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated y-axis scale factor.
     *
     * @return estimated y-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated z-axis scale factor.
     *
     * @return estimated z-axis scale factor or null if not available.
     */
    @Override
    public Double getEstimatedSz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated x-y cross-coupling error.
     *
     * @return estimated x-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated x-z cross-coupling error.
     *
     * @return estimated x-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMxz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated y-x cross-coupling error.
     *
     * @return estimated y-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated y-z cross-coupling error.
     *
     * @return estimated y-z cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMyz() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated z-x cross-coupling error.
     *
     * @return estimated z-x cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzx() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated z-y cross-coupling error.
     *
     * @return estimated z-y cross-coupling error or null if not available.
     */
    @Override
    public Double getEstimatedMzy() {
        return mEstimatedMm != null ?
                mEstimatedMm.getElementAt(2, 1) : null;
    }

    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPowerdBm() {
        return mInitialTransmittedPowerdBm;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     * @param initialTransmittedPowerdBm initial transmitted power to start the
     *                                   estimation of radio source transmitted
     *                                   power.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialTransmittedPowerdBm(Double initialTransmittedPowerdBm)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialTransmittedPowerdBm = initialTransmittedPowerdBm;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPower() {
        return mInitialTransmittedPowerdBm != null ?
                Utils.dBmToPower(mInitialTransmittedPowerdBm) : null;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     * @param initialTransmittedPower initial transmitted power to start the
     *                                estimation of radio source transmitted power.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setInitialTransmittedPower(Double initialTransmittedPower)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (initialTransmittedPower != null) {
            if (initialTransmittedPower < 0.0) {
                throw new IllegalArgumentException();
            }
            mInitialTransmittedPowerdBm = Utils.powerTodBm(
                    initialTransmittedPower);
        } else {
            mInitialTransmittedPowerdBm = null;
        }
    }

    /**
     * Gets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     * @return initial position to start the estimation of radio source position.
     */
    public P getInitialPosition() {
        return mInitialPosition;
    }

    /**
     * Sets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     * @param initialPosition initial position to start the estimation of radio
     *                        source position.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPosition(P initialPosition) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPosition = initialPosition;
    }

    /**
     * Gets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     * @return initial path loss exponent.
     */
    public double getInitialPathLossExponent() {
        return mInitialPathLossExponent;
    }

    /**
     * Sets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     * @param initialPathLossExponent initial path loss exponent.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPathLossExponent(double initialPathLossExponent)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPathLossExponent = initialPathLossExponent;
    }

    /**
     * Indicates whether transmitted power estimation is enabled or not.
     * @return true if transmitted power estimation is enabled, false otherwise.
     */
    public boolean isTransmittedPowerEstimationEnabled() {
        return mTransmittedPowerEstimationEnabled;
    }

    /**
     * Specifies whether transmitted power estimation is enabled or not.
     * @param transmittedPowerEstimationEnabled true if transmitted power estimation is enabled,
     *                                          false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setTransmittedPowerEstimationEnabled(boolean transmittedPowerEstimationEnabled)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mTransmittedPowerEstimationEnabled = transmittedPowerEstimationEnabled;
    }

    /**
     * Indicates whether radio source position estimation is enabled or not.
     * @return true if position estimation is enabled, false otherwise.
     */
    public boolean isPositionEstimationEnabled() {

    public Matrix getEstimatedMg() {
        return mEstimatedMg;
    }

    /**
     * Gets estimated gyroscope x-axis scale factor.
     *
     * @return estimated gyroscope x-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-axis scale factor.
     *
     * @return estimated gyroscope y-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 1) : null;
    }

    /**
     * Gets estimated gyroscope z-axis scale factor.
     *
     * @return estimated gyroscope z-axis scale factor or null
     * if not available.
     */
    public Double getEstimatedSz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 2) : null;
    }

    /**
     * Gets estimated gyroscope x-y cross-coupling error.
     *
     * @return estimated gyroscope x-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 1) : null;
    }

    /**
     * Gets estimated gyroscope x-z cross-coupling error.
     *
     * @return estimated gyroscope x-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMxz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(0, 2) : null;
    }

    /**
     * Gets estimated gyroscope y-x cross-coupling error.
     *
     * @return estimated gyroscope y-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 0) : null;
    }

    /**
     * Gets estimated gyroscope y-z cross-coupling error.
     *
     * @return estimated gyroscope y-z cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMyz() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(1, 2) : null;
    }

    /**
     * Gets estimated gyroscope z-x cross-coupling error.
     *
     * @return estimated gyroscope z-x cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzx() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 0) : null;
    }

    /**
     * Gets estimated gyroscope z-y cross-coupling error.
     *
     * @return estimated gyroscope z-y cross-coupling error or null
     * if not available.
     */
    public Double getEstimatedMzy() {
        return mEstimatedMg != null ?
                mEstimatedMg.getElementAt(2, 1) : null;
    }

    /**
     * Gets estimated G-dependent cross biases introduced on the gyroscope by the
     * specific forces sensed by the accelerometer.
     * This instance allows any 3x3 matrix.
     *
     * @return estimated G-dependent cross biases.
     */
    public Matrix getEstimatedGg() {
        return mEstimatedGg;
    }

    /**
     * Gets estimated covariance matrix for estimated parameters.
     *
     * @return estimated covariance matrix for estimated parameters.
     */
    public Matrix getEstimatedCovariance() {
        return mEstimatedCovariance;
    }

    /**
     * Gets estimated chi square value.
     *
     * @return estimated chi square value.
     */
    public double getEstimatedChiSq() {

            final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Gets minimum number of required measurements.
     *
     * @return minimum number of required measurements.
     */
    public int getMinimumRequiredMeasurements() {
        return mCommonAxisUsed ? MINIMUM_MEASUREMENTS_COMON_Z_AXIS :
                MINIMUM_MEASUREMENTS_GENERAL;
    }

    /**
     * Indicates whether calibrator is ready to start.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    public boolean isReady() {
        return mMeasurements != null && mMeasurements.size() >= getMinimumRequiredMeasurements()
                && mPosition != null && mYear != null;
    }

    /**
     * Indicates whether calibrator is currently running or not.
     *
     * @return true if calibrator is running, false otherwise.
     */
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Gets Earth's magnetic model.
     *
     * @return Earth's magnetic model or null if not provided.
     */
    public WorldMagneticModel getMagneticModel() {
        return mMagneticModel;
    }

    /**
     * Sets Earth's magnetic model.
     *
     * @param magneticModel Earth's magnetic model to be set.
     * @throws LockedException if calibrator is currently running.
     */
    public void setMagneticModel(final WorldMagneticModel magneticModel)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMagneticModel = magneticModel;
    }

    /**
     * Estimates magnetometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if calibration fails for numerical reasons.
     */
    public void calibrate() throws LockedException, NotReadyException,
            CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }

        if (!isReady()) {
            throw new NotReadyException();
        }

        try {
            mRunning = true;

            if (mListener != null) {
                mListener.onCalibrateStart(this);
            }

            if (mCommonAxisUsed) {
                calibrateCommonAxis();
            } else {
                calibrateGeneral();
            }

            if (mListener != null) {
                mListener.onCalibrateEnd(this);
            }

        } catch (final AlgebraException | FittingException
                | com.irurueta.numerical.NotReadyException
                | IOException e) {
            throw new CalibrationException(e);
        } finally {
            mRunning = false;
        }
    }

    /**
     * Gets estimated magnetometer soft-iron matrix containing scale factors
     * and cross coupling errors.
     * This is the product of matrix Tm containing cross coupling errors and Km
     * containing scaling factors.
     * So tat:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km
     *          [myx   sy   myz]
     *          [mzx   mzy  sz ]
     * </pre>
     * Where:
     * <pre>
     *     Km = [sx 0   0 ]
     *          [0  sy  0 ]
     *          [0  0   sz]
     * </pre>
     * and
     * <pre>
     *     Tm = [1          -alphaXy    alphaXz ]
     *          [alphaYx    1           -alphaYz]
     *          [-alphaZx   alphaZy     1       ]
     * </pre>
     * Hence:
     * <pre>
     *     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
     *          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
     *          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
     * </pre>
     * This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
     * are considered to be zero if the accelerometer z-axis is assumed to be the same
     * as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix
     * becomes upper diagonal:
     * <pre>
     *     Mm = [sx    mxy  mxz]
     *          [0     sy   myz]
     *          [0     0    sz ]
     * </pre>
     * Values of this matrix are unitless.
     *
     * @return estimated magnetometer soft-iron scale factors and cross coupling errors,
     * or null if not available.
     */
    public Matrix getEstimatedMm() {

            final double bx, final double by, final double bz,
            final double m11, final double m21, final double m31,
            final double m12, final double m22, final double m32,
            final double m13, final double m23, final double m33,
            final double g11, final double g21, final double g31,
            final double g12, final double g22, final double g32,
            final double g13, final double g23, final double g33)
            throws EvaluationException {

        try {
            final BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> measuredSequence =
                    mSequences.get(i);
            final BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> fixedSequence =
                    mFixedSequences.get(i);

            // generate new sequence using current parameters to fix angular rate measurements
            if (mMeasuredSpecificForce == null) {
                mMeasuredSpecificForce = new Matrix(
                        BodyKinematics.COMPONENTS, 1);
            }
            if (mTrueSpecificForce == null) {
                mTrueSpecificForce = new Matrix(
                        BodyKinematics.COMPONENTS, 1);
            }

            if (mMeasuredAngularRate == null) {
                mMeasuredAngularRate = new Matrix(
                        BodyKinematics.COMPONENTS, 1);
            }
            if (mTrueAngularRate == null) {
                mTrueAngularRate = new Matrix(
                        BodyKinematics.COMPONENTS, 1);
            }

            if (mM == null) {
                mM = new Matrix(BodyKinematics.COMPONENTS,
                        BodyKinematics.COMPONENTS);
            }
            if (mInvM == null) {
                mInvM = new Matrix(BodyKinematics.COMPONENTS,
                        BodyKinematics.COMPONENTS);
            }
            if (mB == null) {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final NEDPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This must
     *                                      have length 3 and is expressed
     *                                      in radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final NEDPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

    public static void estimateKinematics(final double timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final Speed vx, final Speed vy, final Speed vz,
                                          final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                          final double x, final double y, final double z,
                                          final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC,
                SpeedConverter.convert(vx.getValue().doubleValue(), vx.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(vy.getValue().doubleValue(), vy.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(vz.getValue().doubleValue(), vz.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVx.getValue().doubleValue(), oldVx.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVy.getValue().doubleValue(), oldVy.getUnit(), SpeedUnit.METERS_PER_SECOND),
                SpeedConverter.convert(oldVz.getValue().doubleValue(), oldVz.getUnit(), SpeedUnit.METERS_PER_SECOND),
                x, y, z, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final Time timeInterval,

            mEstimatedMg = preliminaryResult.mEstimatedMg;
            mEstimatedGg = preliminaryResult.mEstimatedGg;
        }
    }

    /**
     * Converts acceleration instance to meters per squared second.
     *
     * @param acceleration acceleration instance to be converted.
     * @return converted value.
     */
    private static double convertAcceleration(final Acceleration acceleration) {
        return AccelerationConverter.convert(acceleration.getValue().doubleValue(),
                acceleration.getUnit(), AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Converts angular speed instance to radians per second.
     *
     * @param angularSpeed angular speed instance to be converted.
     * @return converted value.
     */
    private static double convertAngularSpeed(final AngularSpeed angularSpeed) {
        return AngularSpeedConverter.convert(angularSpeed.getValue().doubleValue(),
                angularSpeed.getUnit(), AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Fixes a measured kinematics instance using current
     *
     * @param measuredKinematics a measured kinematics instance.
     * @param result             instance where fixed values will be stored.
     * @throws AlgebraException if accelerometer or gyroscope parameters
     *                          contain numerical instabilities.
     */
    private void fixKinematics(
            final BodyKinematics measuredKinematics,
            final BodyKinematics result) throws AlgebraException {

        mMeasuredSpecificForce[0] = measuredKinematics.getFx();
        mMeasuredSpecificForce[1] = measuredKinematics.getFy();
        mMeasuredSpecificForce[2] = measuredKinematics.getFz();
        mAccelerationFixer.fix(mMeasuredSpecificForce,
                mFixedSpecificForce);

        mMeasuredAngularRate[0] = measuredKinematics.getAngularRateX();
        mMeasuredAngularRate[1] = measuredKinematics.getAngularRateY();
        mMeasuredAngularRate[2] = measuredKinematics.getAngularRateZ();
        mAngularRateFixer.fix(mMeasuredAngularRate,
                mFixedSpecificForce, mFixedAngularRate);

        result.setSpecificForceCoordinates(
                mFixedSpecificForce[0],
                mFixedSpecificForce[1],
                mFixedSpecificForce[2]);
        result.setAngularRateCoordinates(
                mFixedAngularRate[0],
                mFixedAngularRate[1],
                mFixedAngularRate[2]);
    }

    /**
     * Internal class containing estimated preliminary result.
     */
    protected static class PreliminaryResult {
        /**
         * Estimated gyroscope biases for each IMU axis expressed in radians per second
         * (rad/s).
         */
        private double[] mEstimatedBiases;

        super(measurements, commonAxisUsed, listener);
    }

    /**
     * Returns threshold to determine whether samples are inliers or not.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not.
     *
     * @param threshold threshold to be set.
     * @throws IllegalArgumentException if provided value is equal or less than
     *                                  zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final MSACRobustEstimator<PreliminaryResult> innerEstimator =
                new MSACRobustEstimator<>(new MSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return MSACRobustKnownFrameAccelerometerCalibrator.super.isReady();

            mM.setElementAt(0, 0, m11);
            mM.setElementAt(1, 0, m21);
            mM.setElementAt(2, 0, m31);

            mM.setElementAt(0, 1, m12);
            mM.setElementAt(1, 1, m22);
            mM.setElementAt(2, 1, m32);

            mM.setElementAt(0, 2, m13);
            mM.setElementAt(1, 2, m23);
            mM.setElementAt(2, 2, m33);

            Utils.inverse(mM, mInvM);

            mB.setElementAtIndex(0, bx);
            mB.setElementAtIndex(1, by);
            mB.setElementAtIndex(2, bz);

            mG.setElementAt(0, 0, g11);
            mG.setElementAt(1, 0, g21);
            mG.setElementAt(2, 0, g31);

            mG.setElementAt(0, 1, g12);
            mG.setElementAt(1, 1, g22);
            mG.setElementAt(2, 1, g32);

            mG.setElementAt(0, 2, g13);
            mG.setElementAt(1, 2, g23);
            mG.setElementAt(2, 2, g33);

            MixedRadioSourceEstimatorListener<S, P> listener) {
        this(readings, initialPosition, initialTransmittedPowerdBm, listener);
        mInitialPathLossExponent = initialPathLossExponent;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPowerdBm() {
        return mInitialTransmittedPowerdBm;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in dBm's).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @param initialTransmittedPowerdBm initial transmitted power to start the
     *                                   estimation of radio source transmitted
     *                                   power.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialTransmittedPowerdBm(Double initialTransmittedPowerdBm)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialTransmittedPowerdBm = initialTransmittedPowerdBm;
    }

    /**
     * Gets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @return initial transmitted power to start the estimation of radio source
     * transmitted power.
     */
    public Double getInitialTransmittedPower() {
        return mInitialTransmittedPowerdBm != null ?
                Utils.dBmToPower(mInitialTransmittedPowerdBm) : null;
    }

    /**
     * Sets initial transmitted power to start the estimation of radio source
     * transmitted power (expressed in mW).
     * If not defined, average value of received power readings will be used.
     *
     * If transmitted power estimation is enabled, estimation will start at this
     * value and will converte the most appropriate value.
     * If transmitted power estimation is disabled, this value will be assumed to be
     * exact and the estimated transmitted power will be equal to this value
     * (converted to dBm's).
     * @param initialTransmittedPower initial transmitted power to start the
     *                                estimation of radio source transmitted power.
     * @throws LockedException if estimator is locked.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setInitialTransmittedPower(Double initialTransmittedPower)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        if (initialTransmittedPower != null) {
            if (initialTransmittedPower < 0.0) {
                throw new IllegalArgumentException();
            }
            mInitialTransmittedPowerdBm = Utils.powerTodBm(
                    initialTransmittedPower);
        } else {
            mInitialTransmittedPowerdBm = null;
        }
    }

    /**
     * Indicates whether transmitted power estimation is enabled or not.
     * @return true if transmitted power estimation is enabled, false otherwise.
     */
    public boolean isTransmittedPowerEstimationEnabled() {
        return mTransmittedPowerEstimationEnabled;
    }

    /**
     * Specifies whether transmitted power estimation is enabled or not.
     * @param transmittedPowerEstimationEnabled true if transmitted power estimation is enabled,
     *                                          false otherwise.
     * @throws LockedException if estimator is locked.
     */
    public void setTransmittedPowerEstimationEnabled(boolean transmittedPowerEstimationEnabled)
            throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mTransmittedPowerEstimationEnabled = transmittedPowerEstimationEnabled;
    }

    /**
     * Gets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided readings will be used.
     *
     * If position estimation is enabled, estimation will start at this value
     * and will converge to the most appropriate value.
     * If position estimation is disabled, this value will be assumed to
     * be exact and the estimated position will be equal to this value.
     * @return initial position to start the estimation of radio source position.
     */
    public P getInitialPosition() {
        return mInitialPosition;
    }

    /**
     * Sets initial position to start the estimation of radio source position.
     * If not defined, centroid of provided fingerprints will be used.
     *
     * If position estimation is enabled, estimation will start at this value
     * and will converge to the most appropriate value.
     * If position estimation is disabled, this value will be assumed to
     * be exact and the estimated position will be equal to this value.
     * @param initialPosition initial position to start the estimation of radio
     *                        source position.
     * @throws LockedException if estimator is locked.
     */
    public void setInitialPosition(P initialPosition) throws LockedException {
        if (isLocked()) {
            throw new LockedException();
        }
        mInitialPosition = initialPosition;
    }

    /**
     * Gets initial exponent typically used on free space for path loss propagation
     * in terms of distance.
     * On different environments path loss exponent might have different value:
     * - Free space: 2.0
     * - Urban Area: 2.7 to 3.5
     * - Suburban Area: 3 to 5
     * - Indoor (line-of-sight): 1.6 to 1.8
     *
     * If path loss exponent estimation is enabled, estimation will start at this
     * value and will converge to the most appropriate value.
     * If path loss exponent estimation is disabled, this value will be assumed
     * to be exact and the estimated path loss exponent will be equal to this
     * value.
     * @return initial path loss exponent.
     */
    public double getInitialPathLossExponent() {

            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This must be
     *                                      3x1 and is expressed in radians
     *                                      per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

                estimateGDependentCrossBiases, bias, initialMg,
                initialGg, accelerometerBias, accelerometerMa, listener);
    }

    /**
     * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured angular rates and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @return threshold to determine whether samples are inliers or not.
     */
    public double getThreshold() {
        return mThreshold;
    }

    /**
     * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
     * The threshold refers to the amount of error on norm between measured angular rates and the
     * ones generated with estimated calibration parameters provided for each sample.
     *
     * @param threshold threshold to determine whether samples are inliers or not.
     * @throws IllegalArgumentException if provided value is equal or less than zero.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setThreshold(final double threshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (threshold <= MIN_THRESHOLD) {
            throw new IllegalArgumentException();
        }
        mThreshold = threshold;
    }

    /**
     * Indicates whether inliers must be computed and kept.
     *
     * @return true if inliers must be computed and kept, false if inliers
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepInliersEnabled() {
        return mComputeAndKeepInliers;
    }

    /**
     * Specifies whether inliers must be computed and kept.
     *
     * @param computeAndKeepInliers true if inliers must be computed and kept,
     *                              false if inliers only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepInliersEnabled(
            final boolean computeAndKeepInliers)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepInliers = computeAndKeepInliers;
    }

    /**
     * Indicates whether residuals must be computed and kept.
     *
     * @return true if residuals must be computed and kept, false if residuals
     * only need to be computed but not kept.
     */
    public boolean isComputeAndKeepResiduals() {
        return mComputeAndKeepResiduals;
    }

    /**
     * Specifies whether residuals must be computed and kept.
     *
     * @param computeAndKeepResiduals true if residuals must be computed and kept,
     *                                false if residuals only need to be computed but not kept.
     * @throws LockedException if calibrator is currently running.
     */
    public void setComputeAndKeepResidualsEnabled(
            final boolean computeAndKeepResiduals)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mComputeAndKeepResiduals = computeAndKeepResiduals;
    }

    /**
     * Estimates gyroscope calibration parameters containing scale factors,
     * cross-coupling errors and G-dependent coupling.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final RANSACRobustEstimator<PreliminaryResult> innerEstimator =
                new RANSACRobustEstimator<>(new RANSACRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public double getThreshold() {
                        return mThreshold;
                    }

                    @Override
                    public int getTotalSamples() {
                        return mSequences.size();

            MixedPositionEstimatorListener<Point3D> listener) {
        super(initialPosition, listener);
        init();
        internalSetSources(sources);
        internalSetFingerprint(fingerprint);
    }

    /**
     * Gets estimated position.
     *
     * @return estimated position.
     */
    public Point3D getEstimatedPosition() {
        if (mEstimatedPositionCoordinates == null) {
            return null;
        }

        InhomogeneousPoint3D result = new InhomogeneousPoint3D();
        getEstimatedPosition(result);
        return result;
    }

    /**
     * Sets positions, distances and standard deviations of distances on internal
     * lateration solver.
     *
     * @param positions positions to be set.
     * @param distances distances to be set.
     * @param distanceStandardDeviations standard deviations of distances to be set.
     */
    @Override
    @SuppressWarnings("Duplicates")
    protected void setPositionsDistancesAndDistanceStandardDeviations(
            List<Point3D> positions, List<Double> distances,
            List<Double> distanceStandardDeviations) {

        int size = positions.size();
        Point3D[] positionsArray = new InhomogeneousPoint3D[size];
        positionsArray = positions.toArray(positionsArray);

        double[] distancesArray = new double[size];
        double[] distanceStandardDeviationsArray = new double[size];
        for (int i = 0; i < size; i++) {
            distancesArray[i] = distances.get(i);
            distanceStandardDeviationsArray[i] = distanceStandardDeviations.get(i);
        }

        try {
            mTrilaterationSolver.setPositionsDistancesAndStandardDeviations(
                    positionsArray, distancesArray, distanceStandardDeviationsArray);
        } catch (LockedException e) {
            throw new IllegalArgumentException(e);
        }
    }

    /**
     * Initializes lateration solver.
     */
    private void init() {
        mTrilaterationSolver = new NonLinearLeastSquaresLateration3DSolver(
                mLaterationSolverListener);
    }
}

            final RobustKnownFrameAccelerometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, listener);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final LMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new LMedSRobustEstimator<>(new LMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return LMedSRobustKnownFrameAccelerometerCalibrator.super.isReady();

                estimateGDependentCrossBiases, initialBias, initialMg,
                initialGg, accelerometerBias, accelerometerMa, listener);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Estimates gyroscope calibration parameters containing bias, scale factors,
     * cross-coupling errors and G-dependent coupling.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final LMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new LMedSRobustEstimator<>(new LMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public int getTotalSamples() {
                        return mSequences.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(
                            final int[] samplesIndices,
                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(
                            final PreliminaryResult currentEstimation,
                            final int i) {
                        return computeError(mSequences.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return LMedSRobustEasyGyroscopeCalibrator.super.isReady();

                commonAxisUsed, estimateGDependentCrossBiases, bias,
                initialMg, initialGg, accelerometerBias, accelerometerMa,
                listener);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Estimates gyroscope calibration parameters containing scale factors
     * cross-coupling errors and g-dependant cross biases.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final LMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new LMedSRobustEstimator<>(new LMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(
                            final int[] samplesIndices, final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return LMedSRobustKnownBiasTurntableGyroscopeCalibrator.super.isReady();

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This must
     *                                      have length 3 and is expressed
     *                                      in radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated,
     *                                      false otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,

        final Matrix a = new Matrix(rows, COMMON_Z_AXIS_UNKNOWNS);
        final Matrix b = new Matrix(rows, 1);
        int i = 0;
        for (final FrameBodyKinematics measurement : mMeasurements) {
            final BodyKinematics measuredKinematics = measurement.getKinematics();
            final ECEFFrame ecefFrame = measurement.getFrame();
            final ECEFFrame previousEcefFrame = measurement.getPreviousFrame();
            final double timeInterval = measurement.getTimeInterval();

            ECEFKinematicsEstimator.estimateKinematics(timeInterval, ecefFrame,
                    previousEcefFrame, expectedKinematics);

            final double fMeasX = measuredKinematics.getFx();
            final double fMeasY = measuredKinematics.getFy();
            final double fMeasZ = measuredKinematics.getFz();

            final double fTrueX = expectedKinematics.getFx();
            final double fTrueY = expectedKinematics.getFy();
            final double fTrueZ = expectedKinematics.getFz();

            a.setElementAt(i, 0, 1.0);
            a.setElementAt(i, 3, fTrueX);
            a.setElementAt(i, 6, fTrueY);
            a.setElementAt(i, 7, fTrueZ);

            b.setElementAtIndex(i, fMeasX - fTrueX);
            i++;

            a.setElementAt(i, 1, 1.0);
            a.setElementAt(i, 4, fTrueY);
            a.setElementAt(i, 8, fTrueZ);

        super(position, measurements, commonAxisUsed, bias, initialMa, listener);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        mGravityNorm = computeGravityNorm();

        final LMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new LMedSRobustEstimator<>(new LMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return LMedSRobustKnownBiasAndPositionAccelerometerCalibrator.super.isReady();

        return estimateKinematicsAndReturnNew(timeInterval, c, oldC, velocity, oldVelocity, position);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final double timeInterval,
                                               final CoordinateTransformation c,
                                               final CoordinateTransformation oldC,
                                               final Speed vx, final Speed vy, final Speed vz,
                                               final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                               final Point3D position) {
        return estimateKinematicsAndReturnNew(timeInterval, c, oldC, vx, vy, vz,
                oldVx, oldVy, oldVz, position);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     body position expressed in meters (m) with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final Time timeInterval,
                                               final CoordinateTransformation c,
                                               final CoordinateTransformation oldC,
                                               final Speed vx, final Speed vy, final Speed vz,
                                               final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                               final Point3D position) {
        return estimateKinematicsAndReturnNew(timeInterval, c, oldC, vx, vy, vz,
                oldVx, oldVy, oldVz, position);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates)..
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF-frame coordinate transformation.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved
     *                     along ECEF-frame axes.
     * @param vy           y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved
     *                     along ECEF-frame axes.
     * @param vz           z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved
     *                     along ECEF-frame axes.
     * @param oldVx        x coordinate of previous velocity of body frame expressed in meters per second (m/s) and
     *                     resolved along ECEF-frame axes.
     * @param oldVy        y coordinate of previous velocity of body frame expressed in meters per second (m/s) and
     *                     resolved along ECEF-frame axes.
     * @param oldVz        z coordinate of previous velocity of body frame expressed in meters per second (m/s) and
     *                     resolved along ECEF-frame axes.
     * @param x            cartesian x coordinate of body position expressed in meters (m) and resolved along
     *                     ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m) and resolved along
     *                     ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m) and resolved along
     *                     ECEF-frame axes.
     * @param result       instance where estimated body kinematics will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public static void estimateKinematics(final double timeInterval,
                                          final CoordinateTransformation c,
                                          final CoordinateTransformation oldC,
                                          final double vx, final double vy, final double vz,
                                          final double oldVx, final double oldVy, final double oldVz,
                                          final double x, final double y, final double z,
                                          final BodyKinematics result) {
        if (timeInterval < 0.0
                || !ECEFFrame.isValidCoordinateTransformation(c)

        super(measurements, commonAxisUsed, listener);
    }

    /**
     * Returns threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value, the
     * algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algrithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @return stop threshold to stop the algorithm prematurely when a certain
     * accuracy has been reached.
     */
    public double getStopThreshold() {
        return mStopThreshold;
    }

    /**
     * Sets threshold to be used to keep the algorithm iterating in case that
     * best estimated threshold using median of residuals is not small enough.
     * Once a solution is found that generates a threshold below this value,
     * the algorithm will stop.
     * The stop threshold can be used to prevent the LMedS algorithm to iterate
     * too many times in cases where samples have a very similar accuracy.
     * For instance, in cases where proportion of outliers is very small (close
     * to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
     * iterate for a long time trying to find the best solution when indeed
     * there is no need to do that if a reasonable threshold has already been
     * reached.
     * Because of this behaviour the stop threshold can be set to a value much
     * lower than the one typically used in RANSAC, and yet the algorithm could
     * still produce even smaller thresholds in estimated results.
     *
     * @param stopThreshold stop threshold to stop the algorithm prematurely
     *                      when a certain accuracy has been reached.
     * @throws IllegalArgumentException if provided value is zero or negative.
     * @throws LockedException          if calibrator is currently running.
     */
    public void setStopThreshold(double stopThreshold) throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        if (stopThreshold <= MIN_STOP_THRESHOLD) {
            throw new IllegalArgumentException();
        }

        mStopThreshold = stopThreshold;
    }

    /**
     * Estimates accelerometer calibration parameters containing bias, scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if estimation fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException, CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }
        if (!isReady()) {
            throw new NotReadyException();
        }

        final LMedSRobustEstimator<PreliminaryResult> innerEstimator =
                new LMedSRobustEstimator<>(new LMedSRobustEstimatorListener<PreliminaryResult>() {
                    @Override
                    public int getTotalSamples() {
                        return mMeasurements.size();
                    }

                    @Override
                    public int getSubsetSize() {
                        return mPreliminarySubsetSize;
                    }

                    @Override
                    public void estimatePreliminarSolutions(final int[] samplesIndices,
                                                            final List<PreliminaryResult> solutions) {
                        computePreliminarySolutions(samplesIndices, solutions);
                    }

                    @Override
                    public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                        return computeError(mMeasurements.get(i), currentEstimation);
                    }

                    @Override
                    public boolean isReady() {
                        return LMedSRobustKnownFrameAccelerometerCalibrator.super.isReady();

    private static final double SCALING_THRESHOLD = 2e-5;

    /**
     * Alpha threshold.
     */
    private static final double ALPHA_THRESHOLD = 1e-8;

    /**
     * Number of rows.
     */
    private static final int ROWS = 3;

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public void estimate(final double timeInterval,
                         final CoordinateTransformation c,
                         final CoordinateTransformation oldC,
                         final double vx, final double vy, final double vz,
                         final double oldVx, final double oldVy, final double oldVz,
                         final double x, final double y, final double z,
                         final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                x, y, z, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes and expressed in meters per
     *                     second (m/s).
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes and expressed in meters
     *                     per second (m/s).
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public void estimate(final Time timeInterval,
                         final CoordinateTransformation c,
                         final CoordinateTransformation oldC,
                         final double vx, final double vy, final double vz,
                         final double oldVx, final double oldVy, final double oldVz,
                         final double x, final double y, final double z,
                         final BodyKinematics result) {
        estimateKinematics(timeInterval, c, oldC, vx, vy, vz, oldVx, oldVy, oldVz,
                x, y, z, result);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            boy-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param velocity     velocity of body frame with respect ECEF frame.
     * @param oldVelocity  previous velocity of body frame with respect ECEF frame.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param result       instance where body kinematics estimation will be stored.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public void estimate(final double timeInterval,
                         final CoordinateTransformation c,

    }

    /**
     * Sets positions, distances and standard deviations of distances on internal
     * lateration solver.
     *
     * @param positions                     positions to be set.
     * @param distances                     distances to be set.
     * @param distanceStandardDeviations    standard deviations of distances to be set.
     * @param distanceQualityScores         distance quality scores or null if not
     *                                      required.
     */
    @Override
    protected void setPositionsDistancesDistanceStandardDeviationsAndQualityScores(
            List<Point3D> positions, List<Double> distances,
            List<Double> distanceStandardDeviations,
            List<Double> distanceQualityScores) {
        int size = positions.size();
        Point3D[] positionsArray = new InhomogeneousPoint3D[size];
        positionsArray = positions.toArray(positionsArray);

        double[] distancesArray = new double[size];
        double[] distanceStandardDeviationsArray = new double[size];

        double[] qualityScoresArray = null;
        if (distanceQualityScores != null) {
            qualityScoresArray = new double[size];
        }

        for (int i = 0; i < size; i++) {
            distancesArray[i] = distances.get(i);
            distanceStandardDeviationsArray[i] = distanceStandardDeviations.get(i);

            if (qualityScoresArray != null) {
                qualityScoresArray[i] = distanceQualityScores.get(i);
            }
        }

        try {
            mLaterationSolver.setPositionsDistancesAndStandardDeviations(
                    positionsArray, distancesArray, distanceStandardDeviationsArray);

            if (qualityScoresArray != null) {
                mLaterationSolver.setQualityScores(qualityScoresArray);
            }
        } catch (LockedException e) {
            throw new IllegalArgumentException(e);
        }
    }
}

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must have length
     *                              3 and is expressed in radians per
     *                              second (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param listener              listener to handle events raised by
     *                              this calibrator.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size or if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must have length
     *                              3 and is expressed in radians per
     *                              second (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param listener              listener to handle events raised by
     *                              this calibrator.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

    private RangingReadingLocated<S, P> createRangingReading(RangingAndRssiReadingLocated<S, P> reading) {
        return new RangingReadingLocated<>(reading.getSource(),
                reading.getDistance(), reading.getPosition(),
                reading.getDistanceStandardDeviation(),
                reading.getPositionCovariance());
    }

    /**
     * Creates an RSSI reading from a ranging and RSSI reading.
     * @param reading input reading to convert from.
     * @return an RSSI reading containing only the RSSI data of input reading.
     */
    private RssiReadingLocated<S, P> createRssiReading(RangingAndRssiReadingLocated<S, P> reading) {
        return new RssiReadingLocated<>(reading.getSource(),
                reading.getRssi(), reading.getPosition(),
                reading.getRssiStandardDeviation(),
                reading.getPositionCovariance());
    }

    /**
     * Checks number of available ranging readings and number of available RSSI readings. Also determines
     * whether position must be estimated using ranging data or RSSI data.
     * @param readings readings to be checked.
     */
    private void checkReadings(List<? extends ReadingLocated<P>> readings) {
        mNumRangingReadings = mNumRssiReadings = 0;

        if (readings == null) {
            return;
        }

        for (ReadingLocated<P> reading : readings) {
            if (reading instanceof RangingReadingLocated) {
                mNumRangingReadings++;

            } else if (reading instanceof RssiReadingLocated) {
                mNumRssiReadings++;

            } else if (reading instanceof RangingAndRssiReadingLocated) {
                mNumRangingReadings++;
                mNumRssiReadings++;
            }
        }

        mRssiPositionEnabled = mNumRangingReadings < getMinRangingReadings();
    }
}

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            MixedPositionEstimatorListener<Point2D> listener) {
        super(listener);
        init();
        internalSetSources(sources);
        internalSetFingerprint(fingerprint);
    }

    /**
     * Gets estimated position.
     * @return estimated position.
     */
    @Override
    public Point2D getEstimatedPosition() {
        if(mEstimatedPositionCoordinates == null) {
            return null;
        }

        InhomogeneousPoint2D result = new InhomogeneousPoint2D();
        getEstimatedPosition(result);
        return result;
    }

    /**
     * Sets positions and distances on internal lateration solver.
     * @param positions positions to be set.
     * @param distances distances to be set.
     * @throws IllegalArgumentException if something fails.
     */
    @Override
    @SuppressWarnings("Duplicates")
    protected void setPositionsAndDistances(List<Point2D> positions,
                                            List<Double> distances) {
        int size = positions.size();
        Point2D[] positionsArray = new InhomogeneousPoint2D[size];
        positionsArray = positions.toArray(positionsArray);

        double[] distancesArray = new double[size];
        for (int i = 0; i < size; i++) {
            distancesArray[i] = distances.get(i);
        }

        try {
            mHomogeneousTrilaterationSolver.setPositionsAndDistances(positionsArray,
                    distancesArray);
            mInhomogeneousTrilaterationSolver.setPositionsAndDistances(positionsArray,
                    distancesArray);
        } catch (LockedException e) {
            throw new IllegalArgumentException(e);
        }
    }

    /**
     * Initializes lateration solver.
     */
    private void init() {
        mHomogeneousTrilaterationSolver = new HomogeneousLinearLeastSquaresLateration2DSolver(
                mLaterationSolverListener);
        mInhomogeneousTrilaterationSolver = new InhomogeneousLinearLeastSquaresLateration2DSolver(
                mLaterationSolverListener);
    }
}

            MixedPositionEstimatorListener<Point3D> listener) {
        super(listener);
        init();
        internalSetSources(sources);
        internalSetFingerprint(fingerprint);
    }

    /**
     * Gets estimated position.
     * @return estimated position.
     */
    @Override
    public Point3D getEstimatedPosition() {
        if(mEstimatedPositionCoordinates == null) {
            return null;
        }

        InhomogeneousPoint3D result = new InhomogeneousPoint3D();
        getEstimatedPosition(result);
        return result;
    }

    /**
     * Sets positions and distances on internal lateration solver.
     * @param positions positions to be set.
     * @param distances distances to be set.
     * @throws IllegalArgumentException if something fails.
     */
    @Override
    @SuppressWarnings("Duplicates")
    protected void setPositionsAndDistances(List<Point3D> positions,
                                            List<Double> distances) {
        int size = positions.size();
        Point3D[] positionsArray = new InhomogeneousPoint3D[size];
        positionsArray = positions.toArray(positionsArray);

        double[] distancesArray = new double[size];
        for (int i = 0; i < size; i++) {
            distancesArray[i] = distances.get(i);
        }

        try {
            mHomogeneousTrilaterationSolver.setPositionsAndDistances(positionsArray,
                    distancesArray);
            mInhomogeneousTrilaterationSolver.setPositionsAndDistances(positionsArray,
                    distancesArray);
        } catch (LockedException e) {
            throw new IllegalArgumentException(e);
        }
    }

    /**
     * Initializes lateration solver.
     */
    private void init() {
        mHomogeneousTrilaterationSolver = new HomogeneousLinearLeastSquaresLateration3DSolver(
                mLaterationSolverListener);
        mInhomogeneousTrilaterationSolver = new InhomogeneousLinearLeastSquaresLateration3DSolver(
                mLaterationSolverListener);
    }
}

        final double myz = unknowns.getElementAtIndex(5);

        fillMa(sx, sy, sz, mxy, mxz, 0.0, myz, 0.0, 0.0);
    }

    /**
     * Internal method to perform general calibration.
     *
     * @throws AlgebraException if there are numerical errors.
     */
    private void calibrateGeneral() throws AlgebraException {
        // The accelerometer model is:
        // fmeas = ba + (I + Ma) * ftrue + w

        // Ideally a least squares solution tries to minimize noise component, so:
        // fmeas = ba + (I + Ma) * ftrue

        // Hence:
        //  [fmeasx] = [bx] + ( [1  0   0] + [sx    mxy mxz])   [ftruex]
        //  [fmeasy] = [by]     [0  1   0]   [myx   sy  myz]    [ftruey]
        //  [fmeasz] = [bz]     [0  0   1]   [mzx   mzy sz ]    [ftruez]

        //  [fmeasx] = [bx] +   [1+sx   mxy     mxz ][ftruex]
        //  [fmeasy]   [by]     [myx    1+sy    myz ][ftruey]
        //  [fmeasz]   [bz]     [mzx    mzy     1+sz][ftruez]

        //  fmeasx = bx + (1+sx) * ftruex + mxy * ftruey + mxz * ftruez
        //  fmeasy = by + myx * ftruex + (1+sy) * ftruey + myz * ftruez
        //  fmeasz = bz + mzx * ftruex + mzy * ftruey + (1+sz) * ftruez

        // Where the unknowns are: sx, sy, sz, mxy mxz, myx, myz, mzx, mzy
        // Reordering:
        //  fmeasx = bx + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez
        //  fmeasy = by + myx * ftruex + ftruey + sy * ftruey + myz * ftruez
        //  fmeasz = bz + mzx * ftruex + mzy * ftruey + ftruez + sz * ftruez

        //  fmeasx - ftruex - bx = sx * ftruex + mxy * ftruey + mxz * ftruez
        //  fmeasy - ftruey - by = myx * ftruex + sy * ftruey + myz * ftruez
        //  fmeasz - ftruez - bz = mzx * ftruex + mzy * ftruey + sz * ftruez

        // [ftruex  0       0       ftruey  ftruez  0       0       0       0     ][sx ] = [fmeasx - ftruex - bx]
        // [0       ftruey  0       0       0       ftruex  ftruez  0       0     ][sy ]   [fmeasy - ftruey - by]
        // [0       0       ftruez  0       0       0       0       ftruex  ftruey][sz ]   [fmeasz - ftruez - bz]
        //                                                                         [mxy]
        //                                                                         [mxz]
        //                                                                         [myx]
        //                                                                         [myz]
        //                                                                         [mzx]
        //                                                                         [mzy]

        final BodyKinematics expectedKinematics = new BodyKinematics();

        final int rows = EQUATIONS_PER_MEASUREMENT * mMeasurements.size();
        final Matrix a = new Matrix(rows, GENERAL_UNKNOWNS);
        final Matrix b = new Matrix(rows, 1);
        int i = 0;
        for (final FrameBodyKinematics measurement : mMeasurements) {
            final BodyKinematics measuredKinematics = measurement.getKinematics();
            final ECEFFrame ecefFrame = measurement.getFrame();
            final ECEFFrame previousEcefFrame = measurement.getPreviousFrame();
            final double timeInterval = measurement.getTimeInterval();

            ECEFKinematicsEstimator.estimateKinematics(timeInterval, ecefFrame,
                    previousEcefFrame, expectedKinematics);

            final double fMeasX = measuredKinematics.getFx();
            final double fMeasY = measuredKinematics.getFy();
            final double fMeasZ = measuredKinematics.getFz();

            final double fTrueX = expectedKinematics.getFx();
            final double fTrueY = expectedKinematics.getFy();
            final double fTrueZ = expectedKinematics.getFz();

            a.setElementAt(i, 0, fTrueX);

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix bias,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix bias,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix initialBias,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must have length 3 and is
     *                                      expressed in radians per second
     *                                      (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer.
     *                                      Must be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa,
                        listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix initialBias,

    protected void setPositionsDistancesDistanceStandardDeviationsAndQualityScores(
            List<Point3D> positions, List<Double> distances,
            List<Double> distanceStandardDeviations,
            List<Double> distanceQualityScores) {
        int size = positions.size();
        Point3D[] positionsArray = new InhomogeneousPoint3D[size];
        positionsArray = positions.toArray(positionsArray);

        double[] distancesArray = new double[size];
        double[] distanceStandardDeviationsArray = new double[size];

        double[] qualityScoresArray = null;
        if (distanceQualityScores != null) {
            qualityScoresArray = new double[size];
        }

        for (int i = 0; i < size; i++) {
            distancesArray[i] = distances.get(i);
            distanceStandardDeviationsArray[i] = distanceStandardDeviations.get(i);

            if (qualityScoresArray != null) {
                qualityScoresArray[i] = distanceQualityScores.get(i);
            }
        }

        try {
            mLaterationSolver.setPositionsDistancesAndStandardDeviations(
                    positionsArray, distancesArray, distanceStandardDeviationsArray);

            if (qualityScoresArray != null) {
                mLaterationSolver.setQualityScores(qualityScoresArray);
            }
        } catch (LockedException e) {
            throw new IllegalArgumentException(e);
        }
    }
}

    }

    /**
     * Gets standard deviation of measured specific force expressed in meters per squared
     * second (m/s^2).
     *
     * @return standard deviation of measured specific force.
     */
    public double getSpecificForceStandardDeviation() {
        return mSpecificForceStandardDeviation;
    }

    /**
     * Sets standard deviation of measured specific force expressed in meters per squared
     * second (m/s^2).
     *
     * @param specificForceStandardDeviation standard deviation of measured specific force.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setSpecificForceStandardDeviation(
            final double specificForceStandardDeviation) {
        if (specificForceStandardDeviation < 0.0) {
            throw new IllegalArgumentException();
        }

        mSpecificForceStandardDeviation = specificForceStandardDeviation;
    }

    /**
     * Gets standard deviation of measured specific force.
     *
     * @return standard deviation of measured specific force.
     */
    public Acceleration getSpecificForceStandardDeviationAsAcceleration() {
        return new Acceleration(mSpecificForceStandardDeviation,
                AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Gets standard deviation of measured specific force.
     *
     * @param result instance where standard deviation of measured specific force will be
     *               stored.
     */
    public void getSpecificForceStandardDeviationAsAcceleration(
            final Acceleration result) {
        result.setValue(mSpecificForceStandardDeviation);
        result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
    }

    /**
     * Sets standard deviation of measured specific force.
     *
     * @param specificForceStandardDeviation standard deviation of measured specific force.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setSpecificForceStandardDeviation(
            final Acceleration specificForceStandardDeviation) {
        setSpecificForceStandardDeviation(convertAcceleration(
                specificForceStandardDeviation));
    }

    /**
     * Gets standard deviation of measured angular rate expressed in radians per second (rad/s).
     *
     * @return standard deviation of measured angular rate.
     */
    public double getAngularRateStandardDeviation() {
        return mAngularRateStandardDeviation;
    }

    /**
     * Sets standard deviation of measured angular rate expressed in radians per second (rad/s).
     *
     * @param angularRateStandardDeviation standard deviation of measured angular rate.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setAngularRateStandardDeviation(final double angularRateStandardDeviation) {
        if (angularRateStandardDeviation < 0.0) {
            throw new IllegalArgumentException();
        }

        mAngularRateStandardDeviation = angularRateStandardDeviation;
    }

    /**
     * Gets standard deviation of measured angular rate.
     *
     * @return standard deviation of measured angular rate.
     */
    public AngularSpeed getAngularRateStandardDeviationAsAngularSpeed() {
        return new AngularSpeed(mAngularRateStandardDeviation,
                AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Gets standard deviation of measured angular rate.
     *
     * @param result instance where standard deviation of measured angular rate will be
     *               stored.
     */
    public void getAngularRateStandardDeviationAsAngularSpeed(final AngularSpeed result) {
        result.setValue(mAngularRateStandardDeviation);
        result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
    }

    /**
     * Sets standard deviation of measured angular rate.
     *
     * @param angularRateStandardDeviation standard deviation of measured angular rate.
     * @throws IllegalArgumentException if provided value is negative.
     */
    public void setAngularRateStandardDeviation(
            final AngularSpeed angularRateStandardDeviation) {
        setAngularRateStandardDeviation(convertAngularSpeed(
                angularRateStandardDeviation));
    }

    /**
     * Copies data of provided instance into this instance.
     *
     * @param input instance to copy data from.
     */
    public void copyFrom(final StandardDeviationBodyKinematics input) {

            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must have
     *                              length 3 and is expressed in radians
     *                              per second (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores, final ECEFPosition position,
            final double turntableRotationRate, final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] bias, final Matrix initialMg,
            final Matrix initialGg, final RobustEstimatorMethod method) {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param listener              listener to handle events raised by
     *                              this calibrator.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param listener                      listener to handle events
     *                                      raised by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param listener                      listener to handle events
     *                                      raised by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix bias,

            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        bias, initialMg, initialGg, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, bias, initialMg, initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param bias                  known gyroscope bias. This must have
     *                              length 3 and is expressed in radians
     *                              per second (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {

            final Matrix bias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias,
                        initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross
     *                                      biases will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors
     *                                      matrix. Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param listener                      listener to handle events
     *                                      raised by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix bias,

            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must have
     *                              length 3 and is expressed in radians
     *                              per second (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final Matrix accelerometerBias,
            final Matrix accelerometerMa,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        accelerometerBias, accelerometerMa);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must be 3x1 and
     *                              is expressed in radians per second
     *                              (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param accelerometerBias     known accelerometer bias. This must
     *                              have length 3 and is expressed in
     *                              meters per squared second
     *                              (m/s^2).
     * @param accelerometerMa       known accelerometer scale factors and
     *                              cross coupling matrix. Must be 3x3.
     * @param listener              listener to handle events raised by
     *                              this calibrator.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param listener                      listener to handle events raised by
     *                                      this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,

            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases,
                        initialBias, initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param listener                      listener to handle events raised by
     *                                      this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final ECEFPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix initialBias,

            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        listener);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        listener);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, initialBias, initialMg, initialGg,
                        listener);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, listener);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, initialBias, initialMg,
                        initialGg, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores         quality scores corresponding to each provided
     *                              measurement. The larger the score value the better
     *                              the quality of the sample.
     * @param position              position where body kinematics measures
     *                              have been taken.
     * @param turntableRotationRate constant rotation rate at which the
     *                              turntable is spinning. Must be
     *                              expressed in radians per second (rad/s).
     * @param timeInterval          time interval between measurements being
     *                              captured expressed in seconds (s).
     * @param measurements          collection of body kinematics
     *                              measurements with standard deviations
     *                              taken at the same position with zero
     *                              velocity and unknown different
     *                              orientations.
     * @param initialBias           initial gyroscope bias to be used to
     *                              find a solution. This must have
     *                              length 3 and is expressed in radians
     *                              per second (rad/s).
     * @param initialMg             initial gyroscope scale factors and
     *                              cross coupling errors matrix. Must
     *                              be 3x3.
     * @param initialGg             initial gyroscope G-dependent cross
     *                              biases introduced on the gyroscope by
     *                              the specific forces sensed by the
     *                              accelerometer. Must be 3x3.
     * @param method                robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final double[] initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {

            final Matrix initialBias,
            final Matrix initialMg,
            final Matrix initialGg,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg);
            case LMedS:
                return new LMedSRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg);
            case MSAC:
                return new MSACRobustTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg);
            case PROSAC:
                return new PROSACRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg);
            case PROMedS:
            default:
                return new PROMedSRobustTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate,
                        timeInterval, measurements, commonAxisUsed,
                        estimateGDependentCrossBiases, initialBias,
                        initialMg, initialGg);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity
     *                                      and unknown different
     *                                      orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param initialBias                   initial gyroscope bias to be
     *                                      used to find a solution. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific
     *                                      forces sensed by the
     *                                      accelerometer. Must be 3x3.
     * @param listener                      listener to handle events raised
     *                                      by this calibrator.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 10 samples.
     */
    public static RobustTurntableGyroscopeCalibrator create(
            final double[] qualityScores,
            final NEDPosition position,
            final double turntableRotationRate,
            final double timeInterval,
            final List<StandardDeviationBodyKinematics> measurements,
            final boolean commonAxisUsed,
            final boolean estimateGDependentCrossBiases,
            final Matrix initialBias,

    private void internalSetFingerprint(Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
        if (fingerprint == null) {
            throw new IllegalArgumentException();
        }

        mFingerprint = fingerprint;
    }

    /**
     * Sets quality scores corresponding to each provided located radio source.
     * This method is used internally and does not check whether instance is
     * locked or not.
     * @param sourceQualityScores quality scores to be set.
     * @throws IllegalArgumentException if provided quality scores length is
     * smaller than 3 samples for 2D or 4 samples for 3D.
     */
    private void internalSetSourceQualityScores(double[] sourceQualityScores) {
        if (sourceQualityScores == null ||
                sourceQualityScores.length < getMinRequiredSources()) {
            throw new IllegalArgumentException();
        }

        mSourceQualityScores = sourceQualityScores;
    }

    /**
     * Sets quality scores corresponding to each provided reading within provided
     * fingerprint.
     * This method is used internally and does not check whether instance is locked
     * or not.
     * @param fingerprintReadingsQualityScores quality scores to be set.
     * @throws IllegalArgumentException if provided quality scores length is smaller
     * than 3 samples for 2D or 4 samples for 3D.
     */
    private void internalSetFingerprintReadingsQualityScores(
            double[] fingerprintReadingsQualityScores) {
        if (fingerprintReadingsQualityScores == null ||
                fingerprintReadingsQualityScores.length < getMinRequiredSources()) {
            throw new IllegalArgumentException();
        }

        mFingerprintReadingsQualityScores = fingerprintReadingsQualityScores;
    }

    /**
     * Creates a ranging reading from a ranging and RSSI reading.
     *
     * @param reading input reading to convert from.
     * @return a ranging reading containing only the ranging data of input reading.
     */
    private RangingReading<RadioSource> createRangingReading(
            RangingAndRssiReading<? extends RadioSource> reading) {
        return new RangingReading<>(reading.getSource(),
                reading.getDistance(),
                reading.getDistanceStandardDeviation(),
                reading.getNumAttemptedMeasurements(),
                reading.getNumSuccessfulMeasurements());
    }

    /**
     * Creates an RSSI reading from a ranging and RSSI reading.
     *
     * @param reading input reading to convert from.
     * @return an RSSI reading containing only the RSSI data of input reading.
     */
    private RssiReading<RadioSource> createRssiReading(
            RangingAndRssiReading<? extends RadioSource> reading) {
        return new RssiReading<>(reading.getSource(), reading.getRssi(),
                reading.getRssiStandardDeviation());
    }

            final double[] accelerometerBias,
            final Matrix accelerometerMa,
            final RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
            final RobustEstimatorMethod method) {
        switch (method) {
            case RANSAC:
                return new RANSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case LMedS:
                return new LMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case MSAC:
                return new MSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        position, turntableRotationRate, timeInterval, measurements,
                        commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg,
                        initialGg, accelerometerBias, accelerometerMa, listener);
            case PROSAC:
                return new PROSACRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
            case PROMedS:
            default:
                return new PROMedSRobustKnownBiasTurntableGyroscopeCalibrator(
                        qualityScores, position, turntableRotationRate, timeInterval,
                        measurements, commonAxisUsed, estimateGDependentCrossBiases,
                        bias, initialMg, initialGg, accelerometerBias,
                        accelerometerMa, listener);
        }
    }

    /**
     * Creates a robust gyroscope calibrator.
     *
     * @param qualityScores                 quality scores corresponding to each provided
     *                                      measurement. The larger the score value the better
     *                                      the quality of the sample.
     * @param position                      position where body kinematics
     *                                      measures have been taken.
     * @param turntableRotationRate         constant rotation rate at which
     *                                      the turntable is spinning. Must
     *                                      be expressed in radians per
     *                                      second (rad/s).
     * @param timeInterval                  time interval between measurements
     *                                      being captured expressed in
     *                                      seconds (s).
     * @param measurements                  collection of body kinematics
     *                                      measurements with standard
     *                                      deviations taken at the same
     *                                      position with zero velocity and
     *                                      unknown different orientations.
     * @param commonAxisUsed                indicates whether z-axis is
     *                                      assumed to be common for
     *                                      accelerometer and gyroscope.
     * @param estimateGDependentCrossBiases true if G-dependent cross biases
     *                                      will be estimated, false
     *                                      otherwise.
     * @param bias                          known gyroscope bias. This
     *                                      must be 3x1 and is expressed in
     *                                      radians per second (rad/s).
     * @param initialMg                     initial gyroscope scale factors
     *                                      and cross coupling errors matrix.
     *                                      Must be 3x3.
     * @param initialGg                     initial gyroscope G-dependent
     *                                      cross biases introduced on the
     *                                      gyroscope by the specific forces
     *                                      sensed by the accelerometer. Must
     *                                      be 3x3.
     * @param accelerometerBias             known accelerometer bias. This
     *                                      must have length 3 and is
     *                                      expressed in meters per squared
     *                                      second (m/s^2).
     * @param accelerometerMa               known accelerometer scale factors
     *                                      and cross coupling matrix. Must
     *                                      be 3x3.
     * @param method                        robust estimator method.
     * @return a robust gyroscope calibrator.
     * @throws IllegalArgumentException if any of the provided values does
     *                                  not have proper size, if either
     *                                  turntable rotation rate or
     *                                  time interval is zero or negative or
     *                                  if provided quality scores length is
     *                                  smaller than 7 samples.
     */
    public static RobustKnownBiasTurntableGyroscopeCalibrator create(

            final KnownFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }

        mListener = listener;
    }

    /**
     * Indicates whether calibrator is ready to start the estimator.
     *
     * @return true if calibrator is ready, false otherwise.
     */
    @Override
    public boolean isReady() {
        return mMeasurements != null
                && mMeasurements.size() >= MINIMUM_MEASUREMENTS;
    }

    /**
     * Indicates whether calibrator is currently running or no.
     *
     * @return true if calibrator is running, false otherwise.
     */
    @Override
    public boolean isRunning() {
        return mRunning;
    }

    /**
     * Gets Earth's magnetic model.
     *
     * @return Earth's magnetic model or null if not provided.
     */
    @Override
    public WorldMagneticModel getMagneticModel() {
        return mMagneticModel;
    }

    /**
     * Sets Earth's magnetic model.
     * If not provided a default model will be loaded internally.
     *
     * @param magneticModel Earth's magnetic model to be set.
     * @throws LockedException if calibrator is currently running.
     */
    @Override
    public void setMagneticModel(final WorldMagneticModel magneticModel)
            throws LockedException {
        if (mRunning) {
            throw new LockedException();
        }
        mMagneticModel = magneticModel;
    }

    /**
     * Estimates accelerometer calibration parameters containing scale factors
     * and cross-coupling errors.
     *
     * @throws LockedException      if calibrator is currently running.
     * @throws NotReadyException    if calibrator is not ready.
     * @throws CalibrationException if calibration fails for numerical reasons.
     */
    @Override
    public void calibrate() throws LockedException, NotReadyException,
            CalibrationException {
        if (mRunning) {
            throw new LockedException();
        }

        if (!isReady()) {
            throw new NotReadyException();
        }

        try {
            mRunning = true;

            if (mListener != null) {
                mListener.onCalibrateStart(this);
            }

            if (mCommonAxisUsed) {
                calibrateCommonAxis();
            } else {
                calibrateGeneral();
            }

            if (mListener != null) {
                mListener.onCalibrateEnd(this);
            }

        } catch (final AlgebraException | IOException e) {

                                               final ECEFFrame oldFrame) {
        return estimateKinematicsAndReturnNew(timeInterval, frame, oldFrame);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final double timeInterval,
                                               final CoordinateTransformation c,
                                               final CoordinateTransformation oldC,
                                               final Speed vx, final Speed vy, final Speed vz,
                                               final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                               final double x, final double y, final double z) {
        return estimateKinematicsAndReturnNew(timeInterval, c, oldC, vx, vy, vz,
                oldVx, oldVy, oldVz, x, y, z);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs.
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param x            cartesian x coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param y            cartesian y coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @param z            cartesian z coordinate of body position expressed in meters (m)
     *                     with respect ECEF frame, resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final Time timeInterval,
                                               final CoordinateTransformation c,
                                               final CoordinateTransformation oldC,
                                               final Speed vx, final Speed vy, final Speed vz,
                                               final Speed oldVx, final Speed oldVy, final Speed oldVz,
                                               final double x, final double y, final double z) {
        return estimateKinematicsAndReturnNew(timeInterval, c, oldC, vx, vy, vz,
                oldVx, oldVy, oldVz, x, y, z);
    }

    /**
     * Estimates body kinematics (specific force applied to a body and its angular rates).
     *
     * @param timeInterval time interval between epochs expressed in seconds (s).
     * @param c            body-to-ECEF frame coordinate transformation matrix.
     * @param oldC         previous body-to-ECEF-frame coordinate transformation matrix.
     * @param vx           velocity of body frame x coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vy           velocity of body frame y coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param vz           velocity of body frame z coordinate with respect ECEF frame,
     *                     resolved along ECEF-frame axes.
     * @param oldVx        previous velocity of body frame x coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVy        previous velocity of body frame y coordinate with respect ECEF
     *                     frame, resolved along ECEF-frame axes.
     * @param oldVz        previous velocity of body frame z coordinate with respect ECEF
     *                     frame, resolved along EVEF-frame axes.
     * @param position     cartesian body position resolved along ECEF-frame axes.
     * @return a new body kinematics instance.
     * @throws IllegalArgumentException if provided time interval is negative or coordinated transformation matrices
     *                                  are not ECEF frame valid.
     */
    public BodyKinematics estimateAndReturnNew(final double timeInterval,
                                               final CoordinateTransformation c,